Systems, devices and methods of controlling motorized transport units in a retail shopping facility

ABSTRACT

Some embodiments include apparatuses to fulfill customer orders comprising a motorized transport unit; a product pick unit (PPU) that cooperate with the motorized transport unit; a wireless communication network; and a central computer system configured to communicate with the multiple motorized transport units and the plurality of product pick units, and comprises a control circuit and memory storing instructions executed to cause the control circuit to: communicate an instruction to the motorized transport unit and direct the motorized transport unit to transport the product pick unit to a determined first location within the shopping facility proximate to where a first product having been ordered is located; and communicate an instruction to the product pick unit cooperated with the motorized transport unit and direct the product pick unit to retrieve the first product.

RELATED APPLICATIONS

This application is a continuation of U.S. application Ser. No.15/894,155, filed Feb. 12, 2018, which is incorporated herein byreference in its entirety, and which is a continuation of U.S.application Ser. No. 15/061,402, filed Mar. 4, 2016, which isincorporated herein by reference in its entirety, and which claims thebenefit of each of the following U.S. Provisional applications, each ofwhich is incorporated herein by reference in its entirety: U.S.Provisional Application No. 62/129,726, filed Mar. 6, 2015, Docket8842-134158-US (587US01); U.S. Provisional Application No. 62/129,727,filed Mar. 6, 2015, Docket 8842-134268-US (615US01); U.S. ProvisionalApplication No. 62/138,877, filed Mar. 26, 2015, Docket 8842-134162-US(610US01); U.S. Provisional Application No. 62/138,885, filed Mar. 26,2015, Docket 8842-134209-US (635US01); U.S. Provisional Application No.62/152,421, filed Apr. 24, 2015, Docket 8842-134155-US (608US01); U.S.Provisional Application No. 62/152,465, filed Apr. 24, 2015, Docket8842-134161-US (603US01); U.S. Provisional Application No. 62/152,440,filed Apr. 24, 2015, Docket 8842-134208-US (611US01); U.S. ProvisionalApplication No. 62/152,630, filed Apr. 24, 2015, Docket 8842-134249-US(612US01); U.S. Provisional Application No. 62/152,711, filed Apr. 24,2015, Docket 8842-134269-US (626US01); U.S. Provisional Application No.62/152,610, filed Apr. 24, 2015, Docket 8842-134574-US (623US01); U.S.Provisional Application No. 62/152,667, filed Apr. 24, 2015, Docket8842-134575-US (663US01); U.S. Provisional Application No. 62/157,388,filed May 5, 2015, Docket 8842-134573-US (606US01); U.S. ProvisionalApplication No. 62/165,579, filed May 22, 2015, Docket 8842-134576-US(677US01); U.S. Provisional Application No. 62/165,416, filed May 22,2015, Docket 8842-134589-US (624US01); U.S. Provisional Application No.62/165,586, filed May 22, 2015, Docket 8842-134945-US (732US01); U.S.Provisional Application No. 62/171,822, filed Jun. 5, 2015, Docket8842-134250-US (621US01); U.S. Provisional Application No. 62/175,182,filed Jun. 12, 2015, Docket 8842-135963-US (726US01); U.S. ProvisionalApplication No. 62/182,339, filed Jun. 19, 2015, Docket 8842-135961-US(749US01); U.S. Provisional Application No. 62/185,478, filed Jun. 26,2015, Docket 8842-136023-US (742US01); U.S. Provisional Application No.62/194,131, filed Jul. 17, 2015, Docket 8842-135962-US (739US01); U.S.Provisional Application No. 62/194,119, filed Jul. 17, 2015, Docket8842-136020-US (728US01); U.S. Provisional Application No. 62/194,121,filed Jul. 17, 2015, Docket 8842-136022-US (740US01); U.S. ProvisionalApplication No. 62/194,127, filed Jul. 17, 2015, Docket 8842-136024-US(743US01); U.S. Provisional Application No. 62/202,744, filed Aug. 7,2015, Docket 8842-135956-US (764US01); U.S. Provisional Application No.62/202,747, filed Aug. 7, 2015, Docket 8842-136021-US (734US01); U.S.Provisional Application No. 62/205,548, filed Aug. 14, 2015, Docket8842-135959-US (751US01); U.S. Provisional Application No. 62/205,569,filed Aug. 14, 2015, Docket 8842-136123-US (680US01); U.S. ProvisionalApplication No. 62/205,555, filed Aug. 14, 2015, Docket 8842-136124-US(741US01); U.S. Provisional Application No. 62/205,539, filed Aug. 14,2015, Docket 8842-136651-US (919US01); U.S. Provisional Application No.62/207,858, filed Aug. 20, 2015, Docket 8842-136508-US (854US01); U.S.Provisional Application No. 62/214,826, filed Sep. 4, 2015, Docket8842-136026-US (746US01); U.S. Provisional Application No. 62/214,824,filed Sep. 4, 2015, Docket 8842-136025-US (744US01); U.S. ProvisionalApplication No. 62/292,084, filed Feb. 5, 2016, Docket 8842-137833-US(925US01); U.S. Provisional Application No. 62/302,547, filed Mar. 2,2016, Docket 8842-136125-US (748US01); U.S. Provisional Application No.62/302,567, filed Mar. 2, 2016, Docket 8842-138040-US (731US01); U.S.Provisional Application No. 62/302,713, filed Mar. 2, 2016, Docket8842-137834-US (932US01); and U.S. Provisional Application No.62/303,021, filed Mar. 3, 2016, Docket 8842-137831-US (636US01).

TECHNICAL FIELD

These teachings relate generally to shopping environments and moreparticularly to devices, systems and methods for assisting customersand/or workers in those shopping environments.

BACKGROUND

In a modern retail store environment, there is a need to improve thecustomer experience and/or convenience for the customer. Whethershopping in a large format (big box) store or smaller format(neighborhood) store, customers often require assistance that employeesof the store are not always able to provide. For example, customers maysubmit customer orders for one or more products that can be timeconsuming to fulfill, and particularly during peak hours, there may notbe enough employees available to assist customers. Additionally, due tohigh employee turnover rates, available employees may not be fullytrained or have access to information to adequately support customers.Other routine tasks also are difficult to keep up with, particularlyduring peak hours. For example, shopping carts are left abandoned,aisles become messy, inventory is not displayed in the proper locationsor is not even placed on the sales floor, shelf prices may not beproperly set, and theft is hard to discourage. All of these issues canresult in low customer satisfaction or reduced convenience to thecustomer. With increasing competition from non-traditional shoppingmechanisms, such as online shopping provided by e-commerce merchants andalternative store formats, it can be important for “brick and mortar”retailers to focus on improving the overall customer experience and/orconvenience.

BRIEF DESCRIPTION OF THE DRAWINGS

The above needs are at least partially met through provision ofembodiments of systems, devices, and methods designed to provideassistance to customers and/or workers in a shopping facility, such asdescribed in the following detailed description, particularly whenstudied in conjunction with the drawings, wherein:

FIG. 1 comprises a block diagram of a shopping assistance system asconfigured in accordance with various embodiments of these teachings;

FIGS. 2A and 2B are illustrations of a motorized transport unit of thesystem of FIG. 1 in a retracted orientation and an extended orientationin accordance with some embodiments;

FIGS. 3A and 3B are illustrations of the motorized transport unit ofFIGS. 2A and 2B detachably coupling to a movable item container, such asa shopping cart, in accordance with some embodiments;

FIG. 4 comprises a block diagram of a motorized transport unit asconfigured in accordance with various embodiments of these teachings;

FIG. 5 comprises a block diagram of a computer device as configured inaccordance with various embodiments of these teachings;

FIG. 6 illustrates a simplified block diagram side view of an exemplaryproduct pick unit (PPU) cooperated with a motorized transport unit, asconfigured in accordance with various embodiments of these teachings;

FIG. 7 illustrates a more detailed example of some embodiments of theproduct pick unit of FIG. 6, in accordance with some embodiments;

FIG. 8 shows a simplified block diagram of an exemplary product pickunit with a motorized transport unit cooperated with the product pickunit, in accordance with some embodiments;

FIG. 9 illustrates a simplified block diagram of a product pick unit,cooperated with a motorized transport unit, with the catch pouch raisedto a height proximate a height at which a desired product is positioned,in accordance with some embodiments;

FIG. 10 shows a simplified plane view of a product pick unit cooperatedwith a motorized transport unit, in accordance with some embodiments;

FIG. 11 shows a simplified flow diagram of an exemplary process offulfilling a customer order through the control of one or more motorizedtransport units and one or more product pick units, in accordance withsome embodiments.

Elements in the figures are illustrated for simplicity and clarity andhave not necessarily been drawn to scale. For example, the dimensionsand/or relative positioning of some of the elements in the figures maybe exaggerated relative to other elements to help to improveunderstanding of various embodiments of the present teachings. Also,common but well-understood elements that are useful or necessary in acommercially feasible embodiment are often not depicted in order tofacilitate a less obstructed view of these various embodiments of thepresent teachings. Certain actions and/or steps may be described ordepicted in a particular order of occurrence while those skilled in theart will understand that such specificity with respect to sequence isnot actually required. The terms and expressions used herein have theordinary technical meaning as is accorded to such terms and expressionsby persons skilled in the technical field as set forth above exceptwhere different specific meanings have otherwise been set forth herein.

DETAILED DESCRIPTION

The following description is not to be taken in a limiting sense, but ismade merely for the purpose of describing the general principles ofexemplary embodiments. Reference throughout this specification to “oneembodiment,” “an embodiment,” or similar language means that aparticular feature, structure, or characteristic described in connectionwith the embodiment is included in at least one embodiment of thepresent invention. Thus, appearances of the phrases “in one embodiment,”“in an embodiment,” and similar language throughout this specificationmay, but do not necessarily, all refer to the same embodiment.

Generally speaking, pursuant to various embodiments, systems, devicesand methods are provided for assistance of persons at a shoppingfacility. Generally, assistance may be provided to customers or shoppersat the facility and/or to workers at the facility. The facility may beany type of shopping facility at a location in which products fordisplay and/or for sale are variously distributed throughout theshopping facility space. The shopping facility may be a retail salesfacility, or any other type of facility in which products are displayedand/or sold. The shopping facility may include one or more of salesfloor areas, checkout locations, parking locations, entrance and exitareas, stock room areas, stock receiving areas, hallway areas, commonareas shared by merchants, and so on. Generally, a shopping facilityincludes areas that may be dynamic in terms of the physical structuresoccupying the space or area and objects, items, machinery and/or personsmoving in the area. For example, the shopping area may include productstorage units, shelves, racks, modules, bins, etc., and other walls,dividers, partitions, etc. that may be configured in different layoutsor physical arrangements. In other examples, persons or other movableobjects may be freely and independently traveling through the shoppingfacility space. And in other examples, the persons or movable objectsmove according to known travel patterns and timing. The facility may beany size of format facility, and may include products from one or moremerchants. For example, a facility may be a single store operated by onemerchant or may be a collection of stores covering multiple merchantssuch as a mall. Generally, the system makes use of automated, roboticmobile devices, e.g., motorized transport units, that are capable ofself-powered movement through a space of the shopping facility andproviding any number of functions. Movement and operation of suchdevices may be controlled by a central computer system or may beautonomously controlled by the motorized transport units themselves.Various embodiments provide one or more user interfaces to allow varioususers to interact with the system including the automated mobile devicesand/or to directly interact with the automated mobile devices. In someembodiments, the automated mobile devices and the corresponding systemserve to enhance a customer shopping experience in the shoppingfacility, e.g., by assisting shoppers and/or workers at the facility.

In some embodiments, a shopping facility personal assistance systemcomprises: a plurality of motorized transport units located in andconfigured to move through a shopping facility space; a plurality ofuser interface units, each corresponding to a respective motorizedtransport unit during use of the respective motorized transport unit;and a central computer system having a network interface such that thecentral computer system wirelessly communicates with one or both of theplurality of motorized transport units and the plurality of userinterface units, wherein the central computer system is configured tocontrol movement of the plurality of motorized transport units throughthe shopping facility space based at least on inputs from the pluralityof user interface units.

System Overview

Referring now to the drawings, FIG. 1 illustrates embodiments of ashopping facility assistance system 100 that can serve to carry out atleast some of the teachings set forth herein. It will be understood thatthe details of this example are intended to serve in an illustrativecapacity and are not necessarily intended to suggest any limitations asregards the present teachings. It is noted that generally, FIGS. 1-5describe the general functionality of several embodiments of a system,and FIGS. 6-11 expand on some functionalities of some embodiments of thesystem and/or embodiments independent of such systems.

In the example of FIG. 1, a shopping assistance system 100 isimplemented in whole or in part at a shopping facility 101. Generally,the system 100 includes one or more motorized transport units (MTUs)102; one or more item containers 104; a central computer system 106having at least one control circuit 108, at least one memory 110 and atleast one network interface 112; at least one user interface unit 114; alocation determination system 116; at least one video camera 118; atleast one motorized transport unit (MTU) dispenser 120; at least onemotorized transport unit (MTU) docking station 122; at least onewireless network 124; at least one database 126; at least one userinterface computer device 128; an item display module 130; and a lockeror an item storage unit 132. It is understood that more or fewer of suchcomponents may be included in different embodiments of the system 100.

These motorized transport units 102 are located in the shopping facility101 and are configured to move throughout the shopping facility space.Further details regarding such motorized transport units 102 appearfurther below. Generally speaking, these motorized transport units 102are configured to either comprise, or to selectively couple to, acorresponding movable item container 104. A simple example of an itemcontainer 104 would be a shopping cart as one typically finds at manyretail facilities, or a rocket cart, a flatbed cart or any other mobilebasket or platform that may be used to gather items for potentialpurchase.

In some embodiments, these motorized transport units 102 wirelesslycommunicate with, and are wholly or largely controlled by, the centralcomputer system 106. In particular, in some embodiments, the centralcomputer system 106 is configured to control movement of the motorizedtransport units 102 through the shopping facility space based on avariety of inputs. For example, the central computer system 106communicates with each motorized transport unit 102 via the wirelessnetwork 124 which may be one or more wireless networks of one or morewireless network types (such as, a wireless local area network, awireless personal area network, a wireless mesh network, a wireless starnetwork, a wireless wide area network, a cellular network, and so on),capable of providing wireless coverage of the desired range of themotorized transport units 102 according to any known wireless protocols,including but not limited to a cellular, Wi-Fi, Zigbee or Bluetoothnetwork.

By one approach the central computer system 106 is a computer baseddevice and includes at least one control circuit 108, at least onememory 110 and at least one wired and/or wireless network interface 112.Such a control circuit 108 can comprise a fixed-purpose hard-wiredplatform or can comprise a partially or wholly programmable platform,such as a microcontroller, an application specification integratedcircuit, a field programmable gate array, and so on. These architecturaloptions are well known and understood in the art and require no furtherdescription here. This control circuit 108 is configured (for example,by using corresponding programming stored in the memory 110 as will bewell understood by those skilled in the art) to carry out one or more ofthe steps, actions, and/or functions described herein.

In this illustrative example the control circuit 108 operably couples toone or more memories 110. The memory 110 may be integral to the controlcircuit 108 or can be physically discrete (in whole or in part) from thecontrol circuit 108 as desired. This memory 110 can also be local withrespect to the control circuit 108 (where, for example, both share acommon circuit board, chassis, power supply, and/or housing) or can bepartially or wholly remote with respect to the control circuit 108(where, for example, the memory 110 is physically located in anotherfacility, metropolitan area, or even country as compared to the controlcircuit 108).

This memory 110 can serve, for example, to non-transitorily store thecomputer instructions that, when executed by the control circuit 108,cause the control circuit 108 to behave as described herein. (As usedherein, this reference to “non-transitorily” will be understood to referto a non-ephemeral state for the stored contents (and hence excludeswhen the stored contents merely constitute signals or waves) rather thanvolatility of the storage media itself and hence includes bothnon-volatile memory (such as read-only memory (ROM) as well as volatilememory (such as an erasable programmable read-only memory (EPROM).)

Additionally, at least one database 126 may be accessible by the centralcomputer system 106. Such databases may be integrated into the centralcomputer system 106 or separate from it. Such databases may be at thelocation of the shopping facility 101 or remote from the shoppingfacility 101. Regardless of location, the databases comprise memory tostore and organize certain data for use by the central control system106. In some embodiments, the at least one database 126 may store datapertaining to one or more of: shopping facility mapping data, customerdata, customer shopping data and patterns, inventory data, productpricing data, and so on.

In this illustrative example, the central computer system 106 alsowirelessly communicates with a plurality of user interface units 114.These teachings will accommodate a variety of user interface unitsincluding, but not limited to, mobile and/or handheld electronic devicessuch as so-called smart phones and portable computers such astablet/pad-styled computers. Generally speaking, these user interfaceunits 114 should be able to wirelessly communicate with the centralcomputer system 106 via a wireless network, such as the wireless network124 of the shopping facility 101 (such as a Wi-Fi wireless network).These user interface units 114 generally provide a user interface forinteraction with the system. In some embodiments, a given motorizedtransport unit 102 is paired with, associated with, assigned to orotherwise made to correspond with a given user interface unit 114. Insome embodiments, these user interface units 114 should also be able toreceive verbally-expressed input from a user and forward that content tothe central computer system 106 or a motorized transport unit 102 and/orconvert that verbally-expressed input into a form useful to the centralcomputer system 106 or a motorized transport unit 102.

By one approach at least some of the user interface units 114 belong tocorresponding customers who have come to the shopping facility 101 toshop. By another approach, in lieu of the foregoing or in combinationtherewith, at least some of the user interface units 114 belong to theshopping facility 101 and are loaned to individual customers to employas described herein. In some embodiments, one or more user interfaceunits 114 are attachable to a given movable item container 104 or areintegrated with the movable item container 104. Similarly, in someembodiments, one or more user interface units 114 may be those ofshopping facility workers, belong to the shopping facility 101 and areloaned to the workers, or a combination thereof.

In some embodiments, the user interface units 114 may be general purposecomputer devices that include computer programming code to allow it tointeract with the system 106. For example, such programming may be inthe form of an application installed on the user interface unit 114 orin the form of a browser that displays a user interface provided by thecentral computer system 106 or other remote computer or server (such asa web server). In some embodiments, one or more user interface units 114may be special purpose devices that are programmed to primarily functionas a user interface for the system 100. Depending on the functionalityand use case, user interface units 114 may be operated by customers ofthe shopping facility or may be operated by workers at the shoppingfacility, such as facility employees (associates or colleagues),vendors, suppliers, contractors, etc.

By one approach, the system 100 optionally includes one or more videocameras 118. Captured video imagery from such a video camera 118 can beprovided to the central computer system 106. That information can thenserve, for example, to help the central computer system 106 determine apresent location of one or more of the motorized transport units 102and/or determine issues or concerns regarding automated movement ofthose motorized transport units 102 in the shopping facility space. Asone simple example in these regards, such video information can permitthe central computer system 106, at least in part, to detect an objectin a path of movement of a particular one of the motorized transportunits 102.

By one approach these video cameras 118 comprise existing surveillanceequipment employed at the shopping facility 101 to serve, for example,various security purposes. By another approach these video cameras 118are dedicated to providing video content to the central computer system106 to facilitate the latter's control of the motorized transport units102. If desired, the video cameras 118 can have a selectively movablefield of view and/or zoom capability that the central computer system106 controls as appropriate to help ensure receipt of useful informationat any given moment.

In some embodiments, a location detection system 116 is provided at theshopping facility 101. The location detection system 116 provides inputto the central computer system 106 useful to help determine the locationof one or more of the motorized transport units 102. In someembodiments, the location detection system 116 includes a series oflight sources (e.g., LEDs (light-emitting diodes)) that are mounted inthe ceiling at known positions throughout the space and that each encodedata in the emitted light that identifies the source of the light (andthus, the location of the light). As a given motorized transport unit102 moves through the space, light sensors (or light receivers) at themotorized transport unit 102, on the movable item container 104 and/orat the user interface unit 114 receive the light and can decode thedata. This data is sent back to the central computer system 106 whichcan determine the position of the motorized transport unit 102 by thedata of the light it receives, since it can relate the light data to amapping of the light sources to locations at the facility 101.Generally, such lighting systems are known and commercially available,e.g., the ByteLight system from ByteLight of Boston, Mass. Inembodiments using a ByteLight system, a typical display screen of thetypical smart phone device can be used as a light sensor or lightreceiver to receive and process data encoded into the light from theByteLight light sources.

In other embodiments, the location detection system 116 includes aseries of low energy radio beacons (e.g., Bluetooth low energy beacons)at known positions throughout the space and that each encode data in theemitted radio signal that identifies the beacon (and thus, the locationof the beacon). As a given motorized transport unit 102 moves throughthe space, low energy receivers at the motorized transport unit 102, onthe movable item container 104 and/or at the user interface unit 114receive the radio signal and can decode the data. This data is sent backto the central computer system 106 which can determine the position ofthe motorized transport unit 102 by the location encoded in the radiosignal it receives, since it can relate the location data to a mappingof the low energy radio beacons to locations at the facility 101.Generally, such low energy radio systems are known and commerciallyavailable. In embodiments using a Bluetooth low energy radio system, atypical Bluetooth radio of a typical smart phone device can be used as areceiver to receive and process data encoded into the Bluetooth lowenergy radio signals from the Bluetooth low energy beacons.

In still other embodiments, the location detection system 116 includes aseries of audio beacons at known positions throughout the space and thateach encode data in the emitted audio signal that identifies the beacon(and thus, the location of the beacon). As a given motorized transportunit 102 moves through the space, microphones at the motorized transportunit 102, on the movable item container 104 and/or at the user interfaceunit 114 receive the audio signal and can decode the data. This data issent back to the central computer system 106 which can determine theposition of the motorized transport unit 102 by the location encoded inthe audio signal it receives, since it can relate the location data to amapping of the audio beacons to locations at the facility 101.Generally, such audio beacon systems are known and commerciallyavailable. In embodiments using an audio beacon system, a typicalmicrophone of a typical smart phone device can be used as a receiver toreceive and process data encoded into the audio signals from the audiobeacon.

Also optionally, the central computer system 106 can operably couple toone or more user interface computers 128 (comprising, for example, adisplay and a user input interface such as a keyboard, touch screen,and/or cursor-movement device). Such a user interface computer 128 canpermit, for example, a worker (e.g., an associate, analyst, etc.) at theretail or shopping facility 101 to monitor the operations of the centralcomputer system 106 and/or to attend to any of a variety ofadministrative, configuration or evaluation tasks as may correspond tothe programming and operation of the central computer system 106. Suchuser interface computers 128 may be at or remote from the location ofthe facility 101 and may access one or more the databases 126.

In some embodiments, the system 100 includes at least one motorizedtransport unit (MTU) storage unit or dispenser 120 at various locationsin the shopping facility 101. The dispenser 120 provides for storage ofmotorized transport units 102 that are ready to be assigned to customersand/or workers. In some embodiments, the dispenser 120 takes the form ofa cylinder within which motorized transports units 102 are stacked andreleased through the bottom of the dispenser 120. Further details ofsuch embodiments are provided further below. In some embodiments, thedispenser 120 may be fixed in location or may be mobile and capable oftransporting itself to a given location or utilizing a motorizedtransport unit 102 to transport the dispenser 120, then dispense one ormore motorized transport units 102.

In some embodiments, the system 100 includes at least one motorizedtransport unit (MTU) docking station 122. These docking stations 122provide locations where motorized transport units 102 can travel andconnect to. For example, the motorized transport units 102 may be storedand charged at the docking station 122 for later use, and/or may beserviced at the docking station 122.

In accordance with some embodiments, a given motorized transport unit102 detachably connects to a movable item container 104 and isconfigured to move the movable item container 104 through the shoppingfacility space under control of the central computer system 106 and/orthe user interface unit 114. For example, a motorized transport unit 102can move to a position underneath a movable item container 104 (such asa shopping cart, a rocket cart, a flatbed cart, or any other mobilebasket or platform), align itself with the movable item container 104(e.g., using sensors) and then raise itself to engage an undersurface ofthe movable item container 104 and lift a portion of the movable itemcontainer 104. Once the motorized transport unit is cooperating with themovable item container 104 (e.g., lifting a portion of the movable itemcontainer), the motorized transport unit 102 can continue to movethroughout the facility space 101 taking the movable item container 104with it. In some examples, the motorized transport unit 102 takes theform of the motorized transport unit 202 of FIGS. 2A-3B as it engagesand detachably connects to a given movable item container 104. It isunderstood that in other embodiments, the motorized transport unit 102may not lift a portion of the movable item container 104, but that itremovably latches to, connects to or otherwise attaches to a portion ofthe movable item container 104 such that the movable item container 104can be moved by the motorized transport unit 102. For example, themotorized transport unit 102 can connect to a given movable itemcontainer using a hook, a mating connector, a magnet, and so on.

In addition to detachably coupling to movable item containers 104 (suchas shopping carts), in some embodiments, motorized transport units 102can move to and engage or connect to an item display module 130 and/oran item storage unit or locker 132. For example, an item display module130 may take the form of a mobile display rack or shelving unitconfigured to house and display certain items for sale. It may bedesired to position the display module 130 at various locations withinthe shopping facility 101 at various times. Thus, one or more motorizedtransport units 102 may move (as controlled by the central computersystem 106) underneath the item display module 130, extend upward tolift the module 130 and then move it to the desired location. A storagelocker 132 may be a storage device where items for purchase arecollected and placed therein for a customer and/or worker to laterretrieve. In some embodiments, one or more motorized transport units 102may be used to move the storage locker to a desired location in theshopping facility 101. Similar to how a motorized transport unit engagesa movable item container 104 or item display module 130, one or moremotorized transport units 102 may move (as controlled by the centralcomputer system 106) underneath the storage locker 132, extend upward tolift the locker 132 and then move it to the desired location.

FIGS. 2A and 2B illustrate some embodiments of a motorized transportunit 202, similar to the motorized transport unit 102 shown in thesystem of FIG. 1. In this embodiment, the motorized transport unit 202takes the form of a disc-shaped robotic device having motorized wheels(not shown), a lower body portion 204 and an upper body portion 206 thatfits over at least part of the lower body portion 204. It is noted thatin other embodiments, the motorized transport unit may have other shapesand/or configurations, and is not limited to disc-shaped. For example,the motorized transport unit may be cubic, octagonal, triangular, orother shapes, and may be dependent on a movable item container withwhich the motorized transport unit is intended to cooperate. Alsoincluded are guide members 208. In FIG. 2A, the motorized transport unit202 is shown in a retracted position in which the upper body portion 206fits over the lower body portion 204 such that the motorized transportunit 202 is in its lowest profile orientation which is generally thepreferred orientation for movement when it is unattached to a movableitem container 104 for example. In FIG. 2B, the motorized transport unit202 is shown in an extended position in which the upper body portion 206is moved upward relative to the lower body portion 204 such that themotorized transport unit 202 is in its highest profile orientation formovement when it is lifting and attaching to a movable item container104 for example. The mechanism within the motorized transport unit 202is designed to provide sufficient lifting force to lift the weight ofthe upper body portion 206 and other objects to be lifted by themotorized transport unit 202, such as movable item containers 104 anditems placed within the movable item container, item display modules 130and items supported by the item display module, and storage lockers 132and items placed within the storage locker. The guide members 208 areembodied as pegs or shafts that extend horizontally from the both theupper body portion 206 and the lower body portion 204. In someembodiments, these guide members 208 assist docking the motorizedtransport unit 202 to a docking station 122 or a dispenser 120. In someembodiments, the lower body portion 204 and the upper body portion arecapable to moving independently of each other. For example, the upperbody portion 206 may be raised and/or rotated relative to the lower bodyportion 204. That is, one or both of the upper body portion 206 and thelower body portion 204 may move toward/away from the other or rotatedrelative to the other. In some embodiments, in order to raise the upperbody portion 206 relative to the lower body portion 204, the motorizedtransport unit 202 includes an internal lifting system (e.g., includingone or more electric actuators or rotary drives or motors). Numerousexamples of such motorized lifting and rotating systems are known in theart. Accordingly, further elaboration in these regards is not providedhere for the sake of brevity.

FIGS. 3A and 3B illustrate some embodiments of the motorized transportunit 202 detachably engaging a movable item container embodied as ashopping cart 302. In FIG. 3A, the motorized transport unit 202 is inthe orientation of FIG. 2A such that it is retracted and able to move inposition underneath a portion of the shopping cart 302. Once themotorized transport unit 202 is in position (e.g., using sensors), asillustrated in FIG. 3B, the motorized transport unit 202 is moved to theextended position of FIG. 2B such that the front portion 304 of theshopping cart is lifted off of the ground by the motorized transportunit 202, with the wheels 306 at the rear of the shopping cart 302remaining on the ground. In this orientation, the motorized transportunit 202 is able to move the shopping cart 302 throughout the shoppingfacility. It is noted that in these embodiments, the motorized transportunit 202 does not bear the weight of the entire cart 302 since the rearwheels 306 rest on the floor. It is understood that in some embodiments,the motorized transport unit 202 may be configured to detachably engageother types of movable item containers, such as rocket carts, flatbedcarts or other mobile baskets or platforms.

FIG. 4 presents a more detailed example of some embodiments of themotorized transport unit 102 of FIG. 1. In this example, the motorizedtransport unit 102 has a housing 402 that contains (partially or fully)or at least supports and carries a number of components. Thesecomponents include a control unit 404 comprising a control circuit 406that, like the control circuit 108 of the central computer system 106,controls the general operations of the motorized transport unit 102.Accordingly, the control unit 404 also includes a memory 408 coupled tothe control circuit 406 and that stores, for example, operatinginstructions and/or useful data.

The control circuit 406 operably couples to a motorized wheel system410. This motorized wheel system 410 functions as a locomotion system topermit the motorized transport unit 102 to move within theaforementioned retail or shopping facility 101 (thus, the motorizedwheel system 410 may more generically be referred to as a locomotionsystem). Generally speaking, this motorized wheel system 410 willinclude at least one drive wheel (i.e., a wheel that rotates (around ahorizontal axis) under power to thereby cause the motorized transportunit 102 to move through interaction with, for example, the floor of theshopping facility 101). The motorized wheel system 410 can include anynumber of rotating wheels and/or other floor-contacting mechanisms asmay be desired and/or appropriate to the application setting.

The motorized wheel system 410 also includes a steering mechanism ofchoice. One simple example in these regards comprises one or more of theaforementioned wheels that can swivel about a vertical axis to therebycause the moving motorized transport unit 102 to turn as well.

Numerous examples of motorized wheel systems are known in the art.Accordingly, further elaboration in these regards is not provided herefor the sake of brevity save to note that the aforementioned controlcircuit 406 is configured to control the various operating states of themotorized wheel system 410 to thereby control when and how the motorizedwheel system 410 operates.

In this illustrative example, the control circuit 406 also operablycouples to at least one wireless transceiver 412 that operates accordingto any known wireless protocol. This wireless transceiver 412 cancomprise, for example, a Wi-Fi-compatible and/or Bluetooth-compatibletransceiver that can communicate with the aforementioned centralcomputer system 106 via the aforementioned wireless network 124 of theshopping facility 101. So configured the control circuit 406 of themotorized transport unit 102 can provide information to the centralcomputer system 106 and can receive information and/or instructions fromthe central computer system 106. As one simple example in these regards,the control circuit 406 can receive instructions from the centralcomputer system 106 regarding movement of the motorized transport unit102.

These teachings will accommodate using any of a wide variety of wirelesstechnologies as desired and/or as may be appropriate in a givenapplication setting. These teachings will also accommodate employing twoor more different wireless transceivers 412 if desired.

The control circuit 406 also couples to one or more on-board sensors414. These teachings will accommodate a wide variety of sensortechnologies and form factors. By one approach at least one such sensor414 can comprise a light sensor or light receiver. When theaforementioned location detection system 116 comprises a plurality oflight emitters disposed at particular locations within the shoppingfacility 101, such a light sensor can provide information that thecontrol circuit 406 and/or the central computer system 106 employs todetermine a present location and/or orientation of the motorizedtransport unit 102.

As another example, such a sensor 414 can comprise a distancemeasurement unit configured to detect a distance between the motorizedtransport unit 102 and one or more objects or surfaces around themotorized transport unit 102 (such as an object that lies in a projectedpath of movement for the motorized transport unit 102 through theshopping facility 101). These teachings will accommodate any of avariety of distance measurement units including optical units andsound/ultrasound units. In one example, a sensor 414 comprises a laserdistance sensor device capable of determining a distance to objects inproximity to the sensor. In some embodiments, a sensor 414 comprises anoptical based scanning device to sense and read optical patterns inproximity to the sensor, such as bar codes variously located onstructures in the shopping facility 101. In some embodiments, a sensor414 comprises a radio frequency identification (RFID) tag reader capableof reading RFID tags in proximity to the sensor. Such sensors may beuseful to determine proximity to nearby objects, avoid collisions,orient the motorized transport unit at a proper alignment orientation toengage a movable item container, and so on.

The foregoing examples are intended to be illustrative and are notintended to convey an exhaustive listing of all possible sensors.Instead, it will be understood that these teachings will accommodatesensing any of a wide variety of circumstances or phenomena to supportthe operating functionality of the motorized transport unit 102 in agiven application setting.

By one optional approach an audio input 416 (such as a microphone)and/or an audio output 418 (such as a speaker) can also operably coupleto the control circuit 406. So configured the control circuit 406 canprovide a variety of audible sounds to thereby communicate with a userof the motorized transport unit 102, other persons in the vicinity ofthe motorized transport unit 102, or even other motorized transportunits 102 in the area. These audible sounds can include any of a varietyof tones and other non-verbal sounds. These audible sounds can alsoinclude, in lieu of the foregoing or in combination therewith,pre-recorded or synthesized speech.

The audio input 416, in turn, provides a mechanism whereby, for example,a user provides verbal input to the control circuit 406. That verbalinput can comprise, for example, instructions, inquiries, orinformation. So configured, a user can provide, for example, a questionto the motorized transport unit 102 (such as, “Where are the towels?”).The control circuit 406 can cause that verbalized question to betransmitted to the central computer system 106 via the motorizedtransport unit's wireless transceiver 412. The central computer system106 can process that verbal input to recognize the speech content and tothen determine an appropriate response. That response might comprise,for example, transmitting back to the motorized transport unit 102specific instructions regarding how to move the motorized transport unit102 (via the aforementioned motorized wheel system 410) to the locationin the shopping facility 101 where the towels are displayed.

In this example the motorized transport unit 102 includes a rechargeablepower source 420 such as one or more batteries. The power provided bythe rechargeable power source 420 can be made available to whichevercomponents of the motorized transport unit 102 require electricalenergy. By one approach the motorized transport unit 102 includes a plugor other electrically conductive interface that the control circuit 406can utilize to automatically connect to an external source of electricalenergy to thereby recharge the rechargeable power source 420.

By one approach the motorized transport unit 102 comprises an integralpart of a movable item container 104 such as a grocery cart. As usedherein, this reference to “integral” will be understood to refer to anon-temporary combination and joinder that is sufficiently complete soas to consider the combined elements to be as one. Such a joinder can befacilitated in a number of ways including by securing the motorizedtransport unit housing 402 to the item container using bolts or otherthreaded fasteners as versus, for example, a clip.

These teachings will also accommodate selectively and temporarilyattaching the motorized transport unit 102 to an item container 104. Insuch a case the motorized transport unit 102 can include a movable itemcontainer coupling structure 422. By one approach this movable itemcontainer coupling structure 422 operably couples to a control circuit202 to thereby permit the latter to control, for example, the latchedand unlatched states of the movable item container coupling structure422. So configured, by one approach the control circuit 406 canautomatically and selectively move the motorized transport unit 102 (viathe motorized wheel system 410) towards a particular item containeruntil the movable item container coupling structure 422 can engage theitem container to thereby temporarily physically couple the motorizedtransport unit 102 to the item container. So latched, the motorizedtransport unit 102 can then cause the item container to move with themotorized transport unit 102. In embodiments such as illustrated inFIGS. 2A-3B, the movable item container coupling structure 422 includesa lifting system (e.g., including an electric drive or motor) to cause aportion of the body or housing 402 to engage and lift a portion of theitem container off of the ground such that the motorized transport unit102 can carry a portion of the item container. In other embodiments, themovable transport unit latches to a portion of the movable itemcontainer without lifting a portion thereof off of the ground.

In either case, by combining the motorized transport unit 102 with anitem container, and by controlling movement of the motorized transportunit 102 via the aforementioned central computer system 106, theseteachings will facilitate a wide variety of useful ways to assist bothcustomers and associates in a shopping facility setting. For example,the motorized transport unit 102 can be configured to follow aparticular customer as they shop within the shopping facility 101. Thecustomer can then place items they intend to purchase into the itemcontainer that is associated with the motorized transport unit 102.

In some embodiments, the motorized transport unit 102 includes aninput/output (I/O) device 424 that is coupled to the control circuit406. The I/O device 424 allows an external device to couple to thecontrol unit 404. The function and purpose of connecting devices willdepend on the application. In some examples, devices connecting to theI/O device 424 may add functionality to the control unit 404, allow theexporting of data from the control unit 404, allow the diagnosing of themotorized transport unit 102, and so on.

In some embodiments, the motorized transport unit 102 includes a userinterface 426 including for example, user inputs and/or user outputs ordisplays depending on the intended interaction with the user. Forexample, user inputs could include any input device such as buttons,knobs, switches, touch sensitive surfaces or display screens, and so on.Example user outputs include lights, display screens, and so on. Theuser interface 426 may work together with or separate from any userinterface implemented at a user interface unit 114 (such as a smartphone or tablet device).

The control unit 404 includes a memory 408 coupled to the controlcircuit 406 and that stores, for example, operating instructions and/oruseful data. The control circuit 406 can comprise a fixed-purposehard-wired platform or can comprise a partially or wholly programmableplatform. These architectural options are well known and understood inthe art and require no further description here. This control circuit406 is configured (for example, by using corresponding programmingstored in the memory 408 as will be well understood by those skilled inthe art) to carry out one or more of the steps, actions, and/orfunctions described herein. The memory 408 may be integral to thecontrol circuit 406 or can be physically discrete (in whole or in part)from the control circuit 406 as desired. This memory 408 can also belocal with respect to the control circuit 406 (where, for example, bothshare a common circuit board, chassis, power supply, and/or housing) orcan be partially or wholly remote with respect to the control circuit406. This memory 408 can serve, for example, to non-transitorily storethe computer instructions that, when executed by the control circuit406, cause the control circuit 406 to behave as described herein. (Asused herein, this reference to “non-transitorily” will be understood torefer to a non-ephemeral state for the stored contents (and henceexcludes when the stored contents merely constitute signals or waves)rather than volatility of the storage media itself and hence includesboth non-volatile memory (such as read-only memory (ROM) as well asvolatile memory (such as an erasable programmable read-only memory(EPROM).)

It is noted that not all components illustrated in FIG. 4 are includedin all embodiments of the motorized transport unit 102. That is, somecomponents may be optional depending on the implementation.

FIG. 5 illustrates a functional block diagram that may generallyrepresent any number of various electronic components of the system 100that are computer type devices. The computer device 500 includes acontrol circuit 502, a memory 504, a user interface 506 and aninput/output (I/O) interface 508 providing any type of wired and/orwireless connectivity to the computer device 500, all coupled to acommunication bus 510 to allow data and signaling to pass therebetween.Generally, the control circuit 502 and the memory 504 may be referred toas a control unit. The control circuit 502, the memory 504, the userinterface 506 and the I/O interface 508 may be any of the devicesdescribed herein or as understood in the art. The functionality of thecomputer device 500 will depend on the programming stored in the memory504. The computer device 500 may represent a high level diagram for oneor more of the central computer system 106, the motorized transport unit102, the user interface unit 114, the location detection system 116, theuser interface computer 128, the MTU docking station 122 and the MTUdispenser 120, or any other device or component in the system that isimplemented as a computer device.

Additional Features Overview

Referring generally to FIGS. 1-5, the shopping assistance system 100 mayimplement one or more of several different features depending on theconfiguration of the system and its components. The following provides abrief description of several additional features that could beimplemented by the system. One or more of these features could also beimplemented in other systems separate from embodiments of the system.This is not meant to be an exhaustive description of all features andnot meant to be an exhaustive description of the details any one of thefeatures. Further details with regards to one or more features beyondthis overview may be provided herein.

Tagalong Steering: This feature allows a given motorized transport unit102 to lead or follow a user (e.g., a customer and/or a worker)throughout the shopping facility 101. For example, the central computersystem 106 uses the location detection system 116 to determine thelocation of the motorized transport unit 102. For example, LED smartlights (e.g., the ByteLight system) of the location detection system 116transmit a location number to smart devices which are with the customer(e.g., user interface units 114), and/or on the item container104/motorized transport unit 102. The central computer system 106receives the LED location numbers received by the smart devices throughthe wireless network 124. Using this information, in some embodiments,the central computer system 106 uses a grid placed upon a 2D CAD map and3D point cloud model (e.g., from the databases 126) to direct, track,and plot paths for the other devices. Using the grid, the motorizedtransport unit 102 can drive a movable item container 104 in a straightpath rather than zigzagging around the facility. As the user moves fromone grid to another, the motorized transport unit 102 drives thecontainer 104 from one grid to the other. In some embodiments, as theuser moves towards the motorized transport unit, it stays still untilthe customer moves beyond an adjoining grid.

Detecting Objects: In some embodiments, motorized transport units 102detect objects through several sensors mounted on motorized transportunit 102, through independent cameras (e.g., video cameras 118), throughsensors of a corresponding movable item container 104, and throughcommunications with the central computer system 106. In someembodiments, with semi-autonomous capabilities, the motorized transportunit 102 will attempt to avoid obstacles, and if unable to avoid, itwill notify the central computer system 106 of an exception condition.In some embodiments, using sensors 414 (such as distance measurementunits, e.g., laser or other optical-based distance measurement sensors),the motorized transport unit 102 detects obstacles in its path, and willmove to avoid, or stop until the obstacle is clear.

Visual Remote Steering: This feature enables movement and/or operationof a motorized transport unit 102 to be controlled by a user on-site,off-site, or anywhere in the world. This is due to the architecture ofsome embodiments where the central computer system 106 outputs thecontrol signals to the motorized transport unit 102. These controlssignals could have originated at any device in communication with thecentral computer system 106. For example, the movement signals sent tothe motorized transport unit 102 may be movement instructions determinedby the central computer system 106; commands received at a userinterface unit 114 from a user; and commands received at the centralcomputer system 106 from a remote user not located at the shoppingfacility space.

Determining Location: Similar to that described above, this featureenables the central computer system 106 to determine the location ofdevices in the shopping facility 101. For example, the central computersystem 106 maps received LED light transmissions, Bluetooth low energyradio signals or audio signals (or other received signals encoded withlocation data) to a 2D map of the shopping facility. Objects within thearea of the shopping facility are also mapped and associated with thosetransmissions. Using this information, the central computer system 106can determine the location of devices such as motorized transport units.

Digital Physical Map Integration: In some embodiments, the system 100 iscapable of integrating 2D and 3D maps of the shopping facility withphysical locations of objects and workers. Once the central computersystem 106 maps all objects to specific locations using algorithms,measurements and LED geo-location, for example, grids are applied whichsections off the maps into access ways and blocked sections. Motorizedtransport units 102 use these grids for navigation and recognition. Insome cases, grids are applied to 2D horizontal maps along with 3Dmodels. In some cases, grids start at a higher unit level and then canbe broken down into smaller units of measure by the central computersystem 106 when needed to provide more accuracy.

Calling a Motorized Transport Unit: This feature provides multiplemethods to request and schedule a motorized transport unit 102 forassistance in the shopping facility. In some embodiments, users canrequest use of a motorized transport unit 102 through the user interfaceunit 114. The central computer system 106 can check to see if there isan available motorized transport unit. Once assigned to a given user,other users will not be able to control the already assigned transportunit. Workers, such as store associates, may also reserve multiplemotorized transport units in order to accomplish a coordinated largejob.

Locker Delivery: In some embodiments, one or more motorized transportunits 102 may be used to pick, pack, and deliver items to a particularstorage locker 132. The motorized transport units 102 can couple to andmove the storage locker to a desired location. In some embodiments, oncedelivered, the requestor will be notified that the items are ready to bepicked up, and will be provided the locker location and locker securitycode key.

Route Optimization: In some embodiments, the central computer systemautomatically generates a travel route for one or more motorizedtransport units through the shopping facility space. In someembodiments, this route is based on one or more of a user provided listof items entered by the user via a user interface unit 114; userselected route preferences entered by the user via the user interfaceunit 114; user profile data received from a user information database(e.g., from one of databases 126); and product availability informationfrom a retail inventory database (e.g., from one of databases 126). Insome cases, the route intends to minimize the time it takes to getthrough the facility, and in some cases, may route the shopper to theleast busy checkout area. Frequently, there will be multiple possibleoptimum routes. The route chosen may take the user by things the user ismore likely to purchase (in case they forgot something), and away fromthings they are not likely to buy (to avoid embarrassment). That is,routing a customer through sporting goods, women's lingerie, baby food,or feminine products, who has never purchased such products based onpast customer behavior would be non-productive, and potentiallyembarrassing to the customer. In some cases, a route may be determinedfrom multiple possible routes based on past shopping behavior, e.g., ifthe customer typically buys a cold Diet Coke product, children's shoesor power tools, this information would be used to add weight to the bestalternative routes, and determine the route accordingly.

Store Facing Features: In some embodiments, these features enablefunctions to support workers in performing store functions. For example,the system can assist workers to know what products and items are on theshelves and which ones need attention. For example, using 3D scanningand point cloud measurements, the central computer system can determinewhere products are supposed to be, enabling workers to be alerted tofacing or zoning of issues along with potential inventory issues.

Phone Home: This feature allows users in a shopping facility 101 to beable to contact remote users who are not at the shopping facility 101and include them in the shopping experience. For example, the userinterface unit 114 may allow the user to place a voice call, a videocall, or send a text message. With video call capabilities, a remoteperson can virtually accompany an in-store shopper, visually sharing theshopping experience while seeing and talking with the shopper. One ormore remote shoppers may join the experience.

Returns: In some embodiments, the central computer system 106 can task amotorized transport unit 102 to keep the returns area clear of returnedmerchandise. For example, the transport unit may be instructed to move acart from the returns area to a different department or area. Suchcommands may be initiated from video analytics (the central computersystem analyzing camera footage showing a cart full), from an associatecommand (digital or verbal), or on a schedule, as other priority tasksallow. The motorized transport unit 102 can first bring an empty cart tothe returns area, prior to removing a full one.

Bring a Container: One or more motorized transport units can retrieve amovable item container 104 (such as a shopping cart) to use. Forexample, upon a customer or worker request, the motorized transport unit102 can re-position one or more item containers 104 from one location toanother. In some cases, the system instructs the motorized transportunit where to obtain an empty item container for use. For example, thesystem can recognize an empty and idle item container that has beenabandoned or instruct that one be retrieved from a cart storage area. Insome cases, the call to retrieve an item container may be initiatedthrough a call button placed throughout the facility, or through theinterface of a user interface unit 114.

Respond to Voice Commands: In some cases, control of a given motorizedtransport unit is implemented through the acceptance of voice commands.For example, the user may speak voice commands to the motorizedtransport unit 102 itself and/or to the user interface unit 114. In someembodiments, a voice print is used to authorize to use of a motorizedtransport unit 102 to allow voice commands from single user at a time.

Retrieve Abandoned Item Containers: This feature allows the centralcomputer system to track movement of movable item containers in andaround the area of the shopping facility 101, including both the salefloor areas and the back-room areas. For example, using visualrecognition through store cameras 118 or through user interface units114, the central computer system 106 can identify abandoned andout-of-place movable item containers. In some cases, each movable itemcontainer has a transmitter or smart device which will send a uniqueidentifier to facilitate tracking or other tasks and its position usingLED geo-location identification. Using LED geo-location identificationwith the Determining Location feature through smart devices on eachcart, the central computer system 106 can determine the length of time amovable item container 104 is stationary.

Stocker Assistance: This feature allows the central computer system totrack movement of merchandise flow into and around the back-room areas.For example, using visual recognition and captured images, the centralcomputer system 106 can determine if carts are loaded or not for movingmerchandise between the back room areas and the sale floor areas. Tasksor alerts may be sent to workers to assign tasks.

Self-Docking: Motorized transport units 102 will run low or out of powerwhen used. Before this happens, the motorized transport units 102 needto recharge to stay in service. According to this feature, motorizedtransport units 102 will self-dock and recharge (e.g., at a MTU dockingstation 122) to stay at maximum efficiency, when not in use. When use iscompleted, the motorized transport unit 102 will return to a dockingstation 122. In some cases, if the power is running low during use, areplacement motorized transport unit can be assigned to move intoposition and replace the motorized transport unit with low power. Thetransition from one unit to the next can be seamless to the user.

Item Container Retrieval: With this feature, the central computer system106 can cause multiple motorized transport units 102 to retrieveabandoned item containers from exterior areas such as parking lots. Forexample, multiple motorized transport units are loaded into a movabledispenser, e.g., the motorized transport units are vertically stacked inthe dispenser. The dispenser is moved to the exterior area and thetransport units are dispensed. Based on video analytics, it isdetermined which item containers 104 are abandoned and for how long. Atransport unit will attach to an abandoned cart and return it to astorage bay.

Motorized Transport Unit Dispenser: This feature provides the movabledispenser that contains and moves a group of motorized transport unitsto a given area (e.g., an exterior area such as a parking lot) to bedispensed for use. For example, motorized transport units can be movedto the parking lot to retrieve abandoned item containers 104. In somecases, the interior of the dispenser includes helically wound guiderails that mate with the guide member 208 to allow the motorizedtransport units to be guided to a position to be dispensed.

Specialized Module Retrieval: This feature allows the system 100 totrack movement of merchandise flow into and around the sales floor areasand the back-room areas including special modules that may be needed tomove to the sales floor. For example, using video analytics, the systemcan determine if a modular unit it loaded or empty. Such modular unitsmay house items that are of seasonal or temporary use on the salesfloor. For example, when it is raining, it is useful to move a moduleunit displaying umbrellas from a back room area (or a lesser accessedarea of the sales floor) to a desired area of the sales floor area.

Authentication: This feature uses a voice imprint with an attentioncode/word to authenticate a user to a given motorized transport unit.One motorized transport unit can be swapped for another using thisauthentication. For example, a token is used during the session with theuser. The token is a unique identifier for the session which is droppedonce the session is ended. A logical token may be a session id used bythe application of the user interface unit 114 to establish the sessionid when user logs on and when deciding to do use the system 100. In someembodiments, communications throughout the session are encrypted usingSSL or other methods at transport level.

Further Details of Some Embodiments

In accordance with some embodiments, further details are now providedfor one or more of these and other features. For example, generallyspeaking, pursuant to various embodiments, systems, apparatuses,processes and methods are provided herein that automate the fulfillmentof a customer's submitted order for one or more products at a shoppingfacility. This is typically very different than the fulfillment of acustomer's product order through a warehouse due in part to therelatively large number of customers that access a majority if not allof the shopping facility. As such, these customers are moving through atleast the sales floor area of the shopping facility, which in manyinstances is where products are acquired to fulfill the customers'product orders.

In some embodiments, one or more motorized transport units are eachdirected by the central computer system 106 to cooperate with a productpick unit (PPU) to transport the product pick unit through the shoppingfacility to locations where products requested by a customer arelocated. The central computer system can then direct the product pickunit to retrieve the requested product from product storage units,shelves, racks, modules, bins, etc. Typically, the product pick unit isseparate from the motorized transport unit and independently andseparately communicates with the central computer system. The motorizedtransport unit is directed to temporarily and removably cooperate with aproduct pick unit. In other embodiments, however, a motorized transportunit can be configured and dedicated as a product retrieval unit with aproduct pick unit fixed with and part of the motorized transport unit.

FIG. 6 illustrates a simplified block diagram side view of an exemplaryproduct pick unit 600 cooperated with a motorized transport unit 102, asconfigured in accordance with various embodiments of these teachings.Again, the motorized transport unit is typically temporarily andremovably cooperated with the product pick unit 600. For example, theproduct pick unit may be positioned at a docking and/or charging stationand the central computer system can wirelessly communicate commands to amotorized transport unit to move under and removably couple with theproduct pick unit. The motorized transport unit can then move throughthe shopping facility transporting the product pick unit 600 to intendedlocations to allow the product pick unit to acquire the intended product612. Further, the cooperation of the motorized transport unit and theproduct pick unit allows a method of directing motorized transport units(MTUs) to transport product pick units to retrieve customer orderedproducts.

In some embodiments, the product pick unit 600 includes one or more pickarms 602 with a vacuum cup system 604, product cup or product grasper;one or more pick arm motors 606, hydraulics, linear actuators, servomotors, screw drives, levers, gearing and the like; one or more verticaltracks 608 extending along a support column or tower 618; and one ormore product containment compartments 610. Some embodiments additionallyinclude one or more product catch pouches 614, which typicallycooperates with the containment compartment. Further, some embodimentsinclude a vacuum system 722 (see FIG. 7) as part of or that cooperateswith the vacuum cup system. In some implementations the product pickunit is configured to removably cooperate with any one of multipledifferent motorized transport units 102.

The product pick unit 600 is configured to removably cooperate with amotorized transport unit 102 and be moved through the shopping facilityby the motorized transport unit. The motorized transport unitcommunicates with the central computer system 106 to receive routinginformation to direct the motorized transport unit to a location wherethe relevant one of the product pick units are located. In someembodiments, the motorized transport unit utilizes the item containercoupling structure or other locking system to removably secure theproduct pick unit with the motorized transport unit. As with thecooperation to a movable item container, the motorized transport unitsecures with the product pick unit to readily move the product pick unitthroughout at least portions of the shopping facility.

The product pick unit utilizes the one or more arms 602 and graspers(e.g., vacuum cup 604) to retrieve one or more products. Each productcan be placed in one of the one or more product containment compartments610. In some instances, the product pick unit may be pulling productsfor different orders, and the different containment compartments can beused to separate products for the different orders being fulfilled.

Typically, the one or more pick arm motors 606 or other such structuresare used to move the arm 602 and/or portions of the arm to position thevacuum cup or other such grasper. For example, a motor may cooperatewith gearing that in turn cooperates with the vertical tracks 608 toallow one or more arms to be vertically lifted or lowered and accuratelypositioned relative to a product to be retrieved. Similarly, one or moremotors, hydraulics or the like can move one or more portions of the armto desired locations.

FIG. 7 illustrates a more detailed example of some embodiments of theproduct pick unit 600 of FIG. 6, in accordance with some embodiments. Inthis example, the product pick unit includes a control unit 704comprising a control circuit 706 that, like the control circuit 108 ofthe central computer system 106, controls the general operations of theproduct pick unit 600. Accordingly, the control unit 704 also includes amemory 708 coupled to the control circuit 706 and that stores, forexample, operating instructions and/or useful data.

The control circuit 706 operably couples to an arm system 710 thatcooperates with at least one arm 602 and comprises one or more armmotors, hydraulics, springs, linear actuators, servo motors, screwdrives, levers, gearing and the like. The arm 602 typically includes oneor more movable sections that are moved through activation of the one ormore arm motors, hydraulics, springs and the like to move the productcup of the vacuum cup system 604 to align with a desired product to beretrieved. The movable arm sections can be configured to telescope,hinge, bend or otherwise move to position the product cup. The armmotors, hydraulics and the like may be positioned on the one or morearms 602, in a base and/or in the containment compartment, ordistributed over portions of the product pick unit (e.g., some on thearm, some in a base). Further, in some embodiments, the arm system 710includes one or more tack motors and vertical track engagements (e.g.,clamps, gearing, etc.) to allow the arm system and/or arm to be movedvertically up and down (e.g., relative to the ground on which themotorized transport unit is transporting the product pick unit 600). Thecontrol circuit 706 provides control over the arm system 710 controlsmotors, hydraulics and the like, and/or a sub-control system is includedin the arm system that controls motors, hydraulics and the like inaccordance with instructions from the control circuit 706.

In this illustrative example, the control circuit 706 also operablycouples to at least one wireless transceiver 712 that operates accordingto any known wireless protocol. This wireless transceiver 712 cancomprise, for example, a Wi-Fi-compatible and/or Bluetooth-compatibletransceiver that can communicate with the aforementioned centralcomputer system 106 via the aforementioned wireless network 124 of theshopping facility 101. So configured the control circuit 706 of theproduct pick unit 600 can provide information to the central computersystem 106 and can receive information and/or instructions from thecentral computer system 106. As one simple example in these regards, thecontrol circuit 706 can receive instructions from the central computersystem 106 regarding the control of the product pick unit, such as butnot limited to control of the arm system 710, positioning of the productcup, acquisition of sensor information, communication of sensorinformation, and the like. These teachings will accommodate using any ofa wide variety of wireless technologies as desired and/or as may beappropriate in a given application setting. These teachings will alsoaccommodate employing two or more different wireless transceivers 712 ifdesired.

The control circuit 706 also couples to one or more on-board sensors714. These teachings will accommodate a wide variety of sensortechnologies and form factors. In some embodiments, the sensors includeone or more video cameras that capture video that is provided back tothe central computer system for evaluation in controlling the movementof the motorized transport unit 102 and features of the product pickunit (e.g., arms 602, cups, etc.). By one approach at least one suchsensor 714 can comprise a light sensor or light receiver. When theaforementioned location detection system 116 comprises a plurality oflight emitters disposed at particular locations within the shoppingfacility 101, such a light sensor can provide information that thecontrol circuit 706 and/or the central computer system 106 employs todetermine a present location and/or orientation of the product pick unit600, and thus the motorized transport unit. It is noted that in someimplementations, the cooperation of the motorized transport unit with aproduct pick unit may interfere with the ability of one or more sensors414 on the motorized transport unit. Accordingly, the central computersystem may utilize sensor data received from one or more sensors 714 onthe product pick unit in place of sensor data from one or more sensors414 on the motorized transport unit.

As another example, such a sensor 714 can comprise a distancemeasurement unit configured to detect a distance between the productpick unit 600 and one or more objects or surfaces around the productpick unit (such as a shelving unit or other product storage unit, aproduct on a shelf, an object that lies in a projected path of movementof the motorized transport unit through the shopping facility 101, andthe like). These teachings will accommodate any of a variety of distancemeasurement units including optical units and sound/ultrasound units. Inone example, a sensor 714 comprises a laser distance sensor devicecapable of determining a distance to objects in proximity to the sensor.In some embodiments, a sensor 714 comprises an optical based scanningdevice to sense and read optical patterns in proximity to the sensor,such as bar codes variously located on structures in the shoppingfacility 101. In some embodiments, a sensor 714 comprises a radiofrequency identification (RFID) tag reader capable of reading RFID tagsin proximity to the sensor. Such sensors may be useful to determineproximity to nearby objects, retrieving products from a shelf or thelike, avoid collisions, orient the motorized transport unit at a properalignment orientation to allow the product pick unit to retrieve aproduct, and so on.

The foregoing examples are intended to be illustrative and are notintended to convey an exhaustive listing of all possible sensors.Instead, it will be understood that these teachings will accommodatesensing any of a wide variety of circumstances or phenomena to supportthe operating functionality of the product pick unit 600 and motorizedtransport unit 102 in a given application setting.

In this example the product pick unit 600 includes a rechargeable powersource 720 such as one or more batteries, capacitors, other such storagesources or combinations of such sources. The power provided by therechargeable power source 720 can be made available to whichevercomponents of the product pick unit that require electrical energy. Byone approach the product pick unit includes a plug or other electricallyconductive interface that the control circuit 706 can utilize toautomatically connect to an external source of electrical energy tothereby recharge the rechargeable power source. In some implementations,some or all of the power of the product pick unit may be supplied by themotorized transport unit. A power and/or communication coupling may beestablished between the motorized transport unit and the product pickunit, such as through one or more container coupling structures 422,electrodes, and/or other such connectors. Further, in some instances,the central computer system may communicate with the product pick unitthrough the motorized transport unit (e.g., with the motorized transportunit relaying instructions from the central computer system to theproduct pick unit).

In this illustrative example, the product pick unit further includes atleast one vacuum system 722 or other product grasping system, grippingsystem, hooking system or the like, with the control circuit 706 alsocoupled to the at least one vacuum system 722. The vacuum systemincludes a vacuum source that generates a vacuum pressure that couplesthrough a hose to one or more of the vacuum cup systems 604 to induce avacuum force used by the product cup to grasp a desired product. In someimplementations, the vacuum source in positioned within a base of theproduct pick unit and/or positioned within the support column 618 alongwhich the track 608 extends. The hose extends from the vacuum sourcealong the arm 602 to the product cup. The hose is cooperated withsufficient slack and/or allows sufficient elasticity so that armmovement is not inhibited regardless of the position, extension andorientation of the arm. The product cup may have substantially anyconfiguration, depending on one or more intended products to beretrieved by the product pick unit. In some instances, the product cupmay have a curved product surface, while in other instances it may beflat, convex, concave, or other relevant shape. Similarly, the productcup may have a circular cross-section, square, rectangular, orsubstantially any relevant shape. Further, the size of the product cupmay vary in size. Some embodiments may include multiple interchangeablecups, hooks or other such graspers. For example, multiple differentcups, hooks or the like may be stored on the product pick unit, andinstructions can be communicated to the product pick unit to switchbetween two graspers.

Further, in some embodiments, the product pick unit 600 further includesa catch pouch control system 730. The control circuit 706 couples withthe pouch control system to direct the pouch control system to open orclose a release or door that allows a product deposited into the catchpouch 614 to be transferred to a storage box, bag or the like in thecontainment compartment 610. Additionally, in some implementations, thepouch control system is configured to raise and lower the verticallocation of the catch pouch, and/or extend and retract laterally. Thepouch control system may include one or more motors, hydraulics, linearactuators, servo motors, screw drives, levers, gearing and the like tomove the catch pouch. The raising and lowering is typically dependent ona location of the product being retrieved and may in some respectsmirror vertical movement of one or more arms 602. For example, when theproduct pick unit is retrieving a product the pouch control system 730can be configured to raise or lower the catch pouch to be directly undera shelf or other structure upon which the product is supported so thatas the product is removed (e.g., pulled from the shelf) it is depositedand/or allowed dropped into the catch pouch. The catch pouch can then belowered to allow the product to be placed into a storage box. In someembodiments the catch pouch 614 is cooperated with the track 608 (or aseparate track) and the pouch control system 730 is configured tocontrol one or more motors to raise and lower the catch pouch 614 alongthe track. The extending and retracting may be dependent on a locationof the product pick unit relative to the product storage unit upon whicha desired product is positioned.

The product pick unit 600, in some embodiments, may further include oneor more temperature control systems 732 that cooperate with atemperature controlled containment compartment 610 or a temperaturecontrolled portion of the containment compartment. The temperaturecontrol system can maintain a temperature within the temperaturecontrolled portion of the containment compartment allowing productshaving predefined temperature limits at which the product is to bemaintained to be deposited within the temperature controlled portion ofthe containment compartment. Additionally or alternatively, thecontainment compartment may include insulation configured to slow atemperature variation of a product placed within the containmentcompartment.

Typically, the product pick unit 600 is separate and distinct from themotorized transport units, and temporarily cooperates with a motorizedtransport unit to be transported to locations to retrieve one or moreproducts. By one approach, however, the product pick unit comprises anintegral part of a motorized transport unit or a movable item container104 such as a grocery cart. As used herein, this reference to “integral”will be understood to refer to a non-temporary combination and joinderthat is sufficiently complete so as to consider the combined elements tobe as one. Such a joinder can be facilitated in a number of waysincluding by securing a housing of the product pick unit to themotorized transport unit housing 402 using bolts or other threadedfasteners as versus, for example, a clip.

These teachings will also accommodate selectively and temporarilyattaching the motorized transport unit 102 to the product pick unit 600.In some implementations, the motorized transport unit 102 utilizes themovable item container coupling structure 422 to temporarily cooperatewith the product pick unit. The control circuit 202 controls the movableitem container coupling structure to, for example, transition betweenthe latched and unlatched states. So configured, by one approach thecontrol circuit 406 of the motorized transport unit can be directed tomove towards a particular product pick unit until the movable itemcontainer coupling structure 422 can engage one or more portions of theproduct pick unit to thereby temporarily physically couple the motorizedtransport unit 102 to the product pick unit. So latched, the motorizedtransport unit 102 can then cause the product pick unit to move with themotorized transport unit. Some embodiments utilize a lifting system ofthe motorized transport unit to position the item container couplingstructure to allow it to engage a bar, clasp, or the like, and in someinstances may be configured to lift a portion of the product pick unitoff of the ground.

In some embodiments, the product pick unit 600 includes an input/output(I/O) device 724 that is coupled to the control circuit 706. The I/Odevice 724 allows an external device to couple to the control unit 704.The function and purpose of connecting devices will depend on theapplication. In some examples, devices connecting to the I/O device 724may add functionality to the control unit 704, allow the exporting ofdata from the control unit 704, allow the diagnosing of the product pickunit 600, and so on.

In some embodiments, the product pick unit may include a user interface726 including for example, user inputs and/or user outputs or displaysdepending on the intended interaction with the user. For example, userinputs could include any input device such as buttons, knobs, switches,touch sensitive surfaces or display screens, and so on. Example useroutputs include lights, display screens, and so on. The user interface726 may work together with or separate from any user interfaceimplemented at a user interface unit 114 (such as a smart phone ortablet device).

The control unit 704 includes a memory 708 coupled to the controlcircuit 706 and that stores, for example, operating instructions and/oruseful data. The control circuit 706 can comprise a fixed-purposehard-wired platform or can comprise a partially or wholly programmableplatform. These architectural options are well known and understood inthe art and require no further description here. This control circuit706 is configured (for example, by using corresponding programmingstored in the memory 708 as will be well understood by those skilled inthe art) to carry out one or more of the steps, actions, and/orfunctions described herein. The memory 708 may be integral to thecontrol circuit 706 or can be physically discrete (in whole or in part)from the control circuit as desired. This memory can also be local withrespect to the control circuit 706 (where, for example, both share acommon circuit board, chassis, power supply, and/or housing) or can bepartially or wholly remote with respect to the control circuit. Thismemory 708 can serve, for example, to non-transitorily store thecomputer instructions that, when executed by the control circuit, causethe control circuit to behave as described herein. (As used herein, thisreference to “non-transitorily” will be understood to refer to anon-ephemeral state for the stored contents (and hence excludes when thestored contents merely constitute signals or waves) rather thanvolatility of the storage media itself and hence includes bothnon-volatile memory (such as read-only memory (ROM) as well as volatilememory (such as an erasable programmable read-only memory (EPROM).)

Some embodiments optionally include an audio input 716 (such as amicrophone) and/or an audio output 718 (such as a speaker) that operablycouple to the control circuit 706. So configured the control circuit 706can provide a variety of audible sounds to thereby communicate with auser of the product pick unit, other persons in the vicinity of theproduct pick unit, or even other motorized transport units 102 and/orproduct pick units. These audible sounds can include any of a variety oftones and other non-verbal sounds. These audible sounds can alsoinclude, in lieu of the foregoing or in combination therewith,pre-recorded or synthesized speech.

The audio input 716, in turn, provides a mechanism whereby, for example,a user provides verbal input to the control circuit 706. That verbalinput can comprise, for example, instructions, inquiries, orinformation. The control circuit 706 can cause that detected verbalizeddata to be transmitted to the central computer system 106 via a wirelesstransceiver 712. The central computer system 106 can process that verbalinput to recognize the content and to then determine an appropriateresponse. That response might comprise, for example, transmitting backto the product pick unit or the associated motorized transport unit 102specific instructions regarding how to operate and/or move.

It is noted that not all components illustrated in FIG. 4 are includedin all embodiments of the motorized transport unit 102. That is, somecomponents may be optional depending on the implementation.

As illustrated in FIG. 6, in some implementations the product pick unit600 is supported by the motorized transport unit 102 (e.g., positionedon top of the motorized transport unit). In other implementations,however, the product pick unit includes wheels or other such features toallow the product pick unit to readily be moved by motorized transportunit without having to support all of the weight of the product pickunit.

FIG. 8 shows a simplified block diagram of an exemplary product pickunit 600 with a motorized transport unit cooperated with the productpick unit, in accordance with some embodiments. In this configuration,the product pick unit includes wheels 802. The motorized transport unit,for example, moves itself under the product pick unit 600 and secureswith a bar, latch, pole, or other such coupling. The wheels 802 of theproduct pick unit continue to support the product pick unit while themotorized transport unit pulls the product pick unit to the locations asdirected by the central computer system.

As described above, in some embodiments the catch pouch 614 is raised orlowered to receive the one or more picked products that are retrieved bythe product cup system or other product grasping unit (e.g., hook(s),pincher(s), etc.). FIG. 9 illustrates a simplified block diagram of aproduct pick unit 600, cooperated with a motorized transport unit 102,with the catch pouch 614 raised to a height proximate a height at whicha desired product 612 is positioned, in accordance with someembodiments. In some embodiments, the product cup is configured to graspor otherwise temporarily affix itself to the product 612, and the arm ismoved or retracted moving the product off the shelf 902 such that theproduct is allowed to drop into the catch pouch. Further, the productcup system may not fully support the weight of the product 612 and assuch, when the product is pulled from the shelf it automatically dropsfrom the product cup and into the catch pouch. In some implementations,the catch pouch is made of a soft material and/or includes padding toavoid damage to the product 612 and the catch pouch. Still further, theproduct 612 being retrieved may be fragile and/or the packaging may befragile. Accordingly, in some embodiments the product catch pouch and/orthe containment compartment may include protective packaging into whichthe product is to be placed. The central computer system can beconfigured to wirelessly communicate a protection instruction to theproduct pick unit 600 directing the product pick unit to apply aprotective packaging to the first product upon retrieval of the product.The product pick unit may include one or more bubble wrap bags, othersimilar cushioned bags, roll of bubble wrap, or other such cushioningthat the product can be placed into or onto (e.g., while being placedinto the catch pouch or into the containment compartment). A packagingarm, air jet or other such mechanism may be included in the product pickunit to open or pull protective packaging.

FIG. 10 shows a simplified plane view of a product pick unit 600cooperated with a motorized transport unit 102, in accordance with someembodiments. The containment compartment 610 and/or base of the productpick unit includes a motorized transport unit port or recess 1002 intowhich the motorized transport unit enters to engage and temporarilysecure with the product pick unit. In some instances, the motorizedtransport unit elevates a portion of the motorized transport unit to aheight that allows one or more item container coupling structure 422,latches, hooks, or other such structures or combinations of suchstructures to secure with a bar, post, latch or the like of the productpick unit.

As described above, in some embodiments the product pick unit 600includes two or more arms 602. In this example, each arm includesmultiple arm sections that are cooperated with one or more hinges 1004,joints, sockets, pulleys, cables, motors, other such structures, orcombinations of two or more of such structures that allow and providemovement between the sections. The control circuit 706 couples with theone or more motors and/or directs an arm controller of the arm system710 to control the movement between arm sections and joints to move theproduct cups to desired locations to cooperate with and retrieveproducts. Again, one or more vacuum systems 722 may cooperate with theproduct cups to induce a vacuum force at the product cups. The productcups may have different configurations. For example, one product cup mayinclude a curved exterior surface, while the other cup may have flatsurface of a less curved surface. The arms may be used independently orcooperatively. For example, in some instances, a single arm is activatedto pick a desired product, while in other instances two or more arms aresimultaneously employed to pick a product. The use of one or multiplearms may be dependent on one or more factors, such as but not limited toweight of the product being picked, shape of the product, size of theproduct, the ability of a cup or other grasper to sufficiently hold orpull the product, and other such factors.

The motorized transport unit 102 receives movement and/or routeinstructions from the central computer system 106. The central computersystem receives requests for one or more products from a customer (e.g.,an order submitted via a shopping facility website, through an APP onthe customer's user interface unit, or the like). With detailed mappingsof the shopping facility and the location of products, includinglocation information of placement of the products on one or moreshelves, racks, modules, or other such product support units. In someimplementations, the central computer system maintains athree-dimensional (3D) mapping of product placement within the shoppingfacility. The central computer system may additionally have 3D scansand/or parameters of products. Based on the identification of the one ormore products requested by the customer, the central computer system isconfigured to evaluate location information (e.g., a database ismaintained that identifies products and one or more locations within theshopping facility where the product is located, which may includethree-dimensional mapping coordinates) and identify a product location.Taking into consideration distance information for the product theproduct pick unit 600 and the arm system 710 to retrieve the intendedproduct, the central computer system identifies and/or determinesrouting information and instructions to direct the motorized transportunit to a retrieval location that is proximate the location of theintended product and within a distances that the product pick unit canextend one or more arms 602 to retrieve the intended product. Otherfactors may be taken into consideration in determining routing. Forexample, some embodiments identify shortest distances, congestion withinthe shopping facility, obstacles, the products being retrieved, acurrent location of a product picking unit, a location where theproducts are to be delivered by the product pick unit, and other suchfactors. In some embodiments, the central computer system identifies twoor more products requested by the customer order and determines routingthrough the shopping facility along which the motorized transport unitis to transport the product pick unit to acquire the two or moreproducts such that damage to a first product of the two or more productsdoes not occur from the retrieval of another of the two or moreproducts. This can include, for example, identifying that a firstproduct has glass packaging and a second product is a relatively heavymetal can. As such, the central computer system may provide routing anddirect the motorized transport unit and the product pick unit toinitially retrieve the can, then retrieve the first product so that thecan is less likely to break the glass packaging of the first product. Asother examples, routing information may direct the motorized transportunit to retrieve heavier product before retrieving lighter products;retrieving items that are more likely to be damages (e.g., bread, eggs,etc.) after other products are retrieved.

Other factors may be considered in determining routing and an order forpicking products. Typically, the central computer system considers thedimensions and weight of products, as well as the dimensions and/orweight relative to a capacity of the catch pouch 614, containmentcompartment, and/or one or more storage boxes, bags, or the like in thecontainment compartment. The routing can be dependent on availablecapacity and ability to place products within the catch pouch,containment compartment and/or storage box, bag, etc. For example, thecentral computer may direct different product pick units to pick updifferent products because the dimensions of the products prevent asingle product pick unit from maintaining the products.

In some embodiments, the central computer system further determines anumber and/or types of storage boxes, bags or other such containers thatare to be used to retain and/or deliver the products. For example, thecentral computer system considers the dimensions of products relative todimensions of storage containers. Further, the central computer systemcan further take into consideration, based on temperature thresholds forrequested products, whether separate storage containers are needed fordifferent temperatures (e.g., number of containers for ambienttemperature products, chilled products, frozen products, heatedproducts, etc.), and in relation to dimensions of the products and thecorresponding storage containers. The central computer system mayfurther determine whether sufficient containers and storage space areavailable to complete the order.

The route information and/or instructions are communicated to themotorized transport unit 102 that is coupled with a product pick unit600. In some instances, the central computer system further communicatesinstructions to the product pick unit that are to be implemented by thearm system to retrieve the product. Additionally or alternatively, thepick product unit may be provided with coordinate information that usedby the control circuit 706 and/or the arm system 710 to move the one ormore product cups or other product grasper to retrieve the intendedproduct.

The motorized transport unit transports the product pick unit to theretrieval location proximate the product. The product pick unit receivesthe instructions to be implemented to retrieve the product. Sensor datafrom the product pick unit 600, the motorized transport unit 102, and/orother information (e.g., video from fixed shopping facility cameras,RFID sensors placed throughout the shopping facility, etc.) is typicallyreceived at the central computer system and used to confirm and adjustmovements of both the motorized transport unit and the product pick unitin retrieving the product. For example, an image and/or video datacaptured by a camera on the product pick unit (e.g., mounted on, inand/or adjacent a product cup, on the support column 618, or the like)is communicated from the product pick unit to the central computersystem. As another example, the product pick unit may be configured toinclude one or more optical code readers that can be used to scanoptical codes on the shelf, rack or the like, the products and othersuch optical codes. This sensor information is utilized by the centralcomputer system to issue command instructions in directing the motorizedtransport unit and/or the product pick unit in accurately retrieving anintended product. Additionally or alternatively, the control circuit 706of the product pick unit 600 can be configured to be provided withproduct location coordinate information (e.g., three-dimensionalcoordinates based on the three-dimensional mapping of at least portionsof the shopping facility and product placement on shelves, bins, and/orother such storage units), an image of the intended product, a 3D scanof the product, optical code information of the product, and/or othersuch information. The control circuit 706 receives sensor data (e.g.,video data, motion sensor data of movement of the arms and arm segments(e.g., joints, gears, cables, etc. may be indexed and movement trackedin accordance with the precision of the indexing), optical codeinformation, and/or other such information) allowing the control circuitto in part autonomously adjust movements of the arms 602 and placementof the product cups to align with and retrieve the intended product. Forexample, the control circuit 706 and/or central computer system may useimage data to accurately identify the product of interest on a shelf,and based on previous movements of the motorized transport unit and/orthe arms 602 can determine a location of the product, and determinesubsequent movements to accurately position the product cups.

FIG. 11 shows a simplified flow diagram of an exemplary process 1100 offulfilling a customer order through the control of one or more motorizedtransport units 102 and one or more product pick units 600, inaccordance with some embodiments. As described above, in someimplementations the central computer system is in communication withmultiple self-propelled motorized transport units that configured tomove through at least a portion of a shopping facility that workers andcustomers regularly enter and travel to locate products. Further, thecentral computer system is in communication with a plurality of productpick units (PPU) 600 that are each configured to temporarily andremovably cooperate with multiple and in some instances any one of themultiple motorized transport units. In part because of the human trafficin areas where the motorized transport units are to travel, care must betaken to maintain control over the multiple motorized transport unitsand the product pick units. This control includes control in having themotorized transport units and product pick units retrieve products, aswell as controlling the motorized transport units to perform othertasks, such as transport carts, assist customers, implement a clean-up,and other such tasks.

In step 1102, one or more instructions are wired or wirelesscommunicated to one or more motorized transport units 102 directing theone or more motorized transport units to transport one or more productpick units 600 to corresponding locations within the shopping facilityproximate to where products, which are identified in a customer's order,are located. The one or more instructions may include routeinstructions, optical code information that define a location, LED lightidentifier information, specific dimensions (e.g., length of travel,angle of turn, etc.), other such instructions, and often combinations oftwo or more of such instructions.

Typically, an order for a customer is received that requests one or moreproducts to be acquired from the shopping facility. The order may beprovided via a user interface unit (e.g., an APP on a customer'ssmartphone, tablet, etc.), received through a user interface accessibleto a customer through the Internet (e.g., a website corresponding to theshopping facility, a chain of shopping facilities, etc.), receivedthrough a kiosk at the shopping facility or other remote site, enteredby a shopping facility worker (e.g., in response to a customer callingin an order), and other such sources. The order typically provides aparticular identifier of the product requesting to be purchased.

The locations within the shopping facility are determined where each ofthe one or more products from the customer's order is located within theshopping facility. For example, a database may be maintained withlocation information for products within the shopping facility. Thelocation data may be entered by a shopping facility employee; enteredthrough received optical code information (e.g., product bar code may bescanned as a worker is stocking the product and GPS and otherinformation may be used to determine a location); a motorized transportunit may provide video, images, optical code or other product identifierinformation, and the product location information may be determinedbased on the location of the motorized transport unit and theidentification of the product; and other such methods. Further, thedesired product may be located at multiple locations within the shoppingfacility. As such, the central computer system may identify a preferredlocation and direct the motorized transport unit to that preferredlocation to pick the product. One or more rules and/or priorities may beapplied to different locations. For example, in some instances, theproduct may be located on the sales floor (e.g., on one or more shelves,bins, racks, etc.); in a back storage area or room (e.g., in casequantities); in the back storage area in open or broken cases (e.g.,sales floor could not receive full case (sometimes referred to as“eaches” and/or places in WACO bins), products are pulled from a shelf,etc.); and/or other locations. Further, some back storage areas and/orsales floors use storage shelves, bins, racks, etc. that are moveable inorder to conserve space, and one or more may need to be moved in orderto facilitate access to the storage location of a product. Accordingly,the central computer system may evaluate the locations of the productsand determine from which location a product should be retrieved. Thedetermination may be based on a priority, based on the product or numberof a product requested, and the like. For example, some embodiments mayattempt to pick items from the sales floor as these are typically theoldest product and not in cases, which allows easier access. In otherinstances, it may be desirable to pick from the back storage area so asto limit interaction and/or interference of customers on the salesfloor. Further consideration of a time of day, customer traffic andother such factors can be evaluated in determining from which location aproduct is to be picked (e.g., when it is a high customer traffic time,back area picks may have priority over sales floor picks). In otherinstances, picking from WACO boxes containing only the target productmight be designated a most preferred location or highest priority,picking from WACO boxes with mixed products at might set as secondpreferred location, picking from the sales floor may be a thirdpreferred location or priority, and picking from case pack storage in aback storage area as a fourth or lowest preferred location or priority.

In step 1104, one or more instructions are communicated to each of theone or more product pick units respectively directing the product pickunits to retrieve one or more products. The instructions can include,for example, arm movement instructions (e.g., arm elevation instructionsalong the one or more tracks 608, extension and/or retractioninstructions, indexing identifiers, and the like), vacuum systeminstructions (e.g., activate, deactivate, vacuum force level, etc.),pouch system instructions (e.g., elevation of catch pouch 614, whetherto release product from the catch pouch, whether to activate protectivepackaging, etc.), instructions to control and/or receive sensorinformation (e.g., video content, images, distance measurements, LEDlight identifiers, etc.), and other such instructions.

In issuing instructions to retrieve products, the central computersystem may identify or determine whether a product pick unit isavailable, and whether a motorized transport unit is already cooperatedwith the product pick unit. Similarly, it can be determined whether theavailable product pick unit is appropriate to retrieve a particularproduct (e.g., the pick unit is with a threshold distance of theproduct, the pick unit includes a temperature control system and/ortemperature controlled portion of the containment compartment when theproduct is to be maintained at a threshold temperature, the pick unithas product cups consistent with the product and/or a vacuum system thatprovides sufficient force to retrieve the product from its storagelocation, the pick unit has an alternative product grasping unit (e.g.,a hook to retrieve products having a weight greater than a thresholdweight), and other such factors and characteristics).

When a product pick unit that is available is not already cooperatedwith a motorized transport unit, the central computer system canidentify an available motorized transport unit, which again may be basedon one or more factors such as, but not limited to, location of themotorized transport unit relative to the product pick unit, capabilitiesof the motorized transport unit to cooperate with a product pick unit,and other such factors. The central computer system can communicate acooperate instruction to the available motorized transport unit 102 tocause the motorized transport unit to move proximate to a correspondingavailable product pick unit 600, and temporarily cooperate with theproduct pick unit such that the motorized transport unit is configuredto transport the product pick unit through the shopping facility. Again,the cooperation of the motorized transport unit can be through the itemcontainer coupling structure 422 (e.g., a towing system, tow ball, towpin, tow hook, trailer loop, towing pintle hitch and ring, one or morelatches, or other such cooperation methods). In some implementations,the product pick unit may be cooperated with a recharging station, andthe motorized transport unit can be directed to travel under the productpick unit and/or into a motorized transport unit port 102 and activateone or more latches or other item container coupling structure 422 tocouple with a bar, pin, loop or other such structure of the product pickunit. Once cooperated, the motorized transport unit can transport theproduct pick unit in accordance with the route and/or directioninstructions.

Further, the central computer system, in some implementations furthercommunicates one or more instructions to the product pick unit to adjusta vertical location of the catch pouch 614 relative to a verticallocation of the product being retrieved. One or more instructions can becommunicated to cause the control circuit 706 to activate one or morevacuum systems 722 and move the vacuum cup to grasp one or more productsthrough a vacuum suction force and deposit the one or more products intothe catch pouch. Further, the central computer system may communicate acommand to cause the product pick unit to activate the arm system, atrack system or other such system to vertically position one or morevacuum cup systems to grasp the intended product through vacuum suctionforces and cooperatively retrieving the product.

As introduced above, some embodiments provide protective packaging. Thecentral computer can, in some instances, wirelessly communicate aprotection instruction to the product pick unit that directs the productpick unit to apply the protective packaging to the product uponretrieval of the product. In response, the product pick unit can open aprotective bag (e.g., directing one of the arms 602 to open the bag,using a pulse or sustained stream of air, or the like), a sheet ofpackaging material may be retrieved from a storage location, or othersuch packaging. Further, some embodiments take into consideration otherproducts to be retrieved by the product pick unit in determining routingof the motorized transport unit and the product pick unit. In someinstances, the central computer system determines routing through theshopping facility along which the motorized transport unit is totransport the product pick unit to acquire multiple products such thatdamage to one or more products does not occur from the retrieval ofother products.

The central computer system and/or the control circuit 406 of themotorized transport unit may adjust the routing of the motorizedtransport unit based on sensor data received from sensors of themotorized transport unit, the product pick unit, and the shoppingfacility. Additionally, in some implementations with the cooperation ofthe product pick unit, one or more sensors of the motorized transportunit may be blocked or otherwise may be ineffective. As such, in someimplementations, the central computer system may receive sensor datacorresponding to one or more different sensors of the product pick unitthat are configured to sense different conditions, determine routinginformation for the motorized transport unit based on the receivedsensor data from the one or more different sensors of the product pickunit instead of sensor data from one or more sensors on the motorizedtransport unit that are inhibited due to the cooperation of the firstmotorized transport unit with the first product pick unit.

Some embodiments may route more than one product pick unit in retrievingproducts for a product order. Similarly, more than one product pickunit, each cooperated with a separate motorized transport unit, cansimultaneously be operating through the shopping facility to fulfill asingle product order, or fulfill multiple different product orders forone or more different customers. The multiple product pick units can beused to access different parts of the shopping facility to retrievedifferent products for a single customer order or multiple differentcustomer orders.

The central computer system may further route the multiple motorizedtransport units and product pick units to deposit the retrieved productsat one or more order collection or assembly locations at the shoppingfacility. In some implementations, for example, the central computersystem may communicate an instruction to multiple different motorizedtransport units and direct the motorized transport units to transportrespective product pick units to different locations within the shoppingfacility proximate to where respective different products are located.Instructions can be communicated to respective product pick unitscooperated with the different motorized transport units and direct theproduct pick units to retrieve respective different products. Furtherinstructions can be communicated, in some instances, to each of themotorized transport units directing the motorized transport units totravel and transport the respective product pick units to a collectionlocation within the shopping facility. The central computer system mayadditionally communicate instructions to the product pick units to allowthe products picked by the product pick units to be collected at one thecollection location, and in some instances collected as at least part offulfilling one or more customers' orders. This allows multiple productpick units to be utilized, and in some instances simultaneouslyutilized, to obtain products that can then be gathered or otherwisecollected in assembling at least part of a single customer order. Again,some products may have different storage needs, such as temperaturestorage thresholds, such that a portion of the customer order ismaintained in different collection locations and assembled at a time thecustomer arrives at the shopping facility or the order is to be shipped,moved or delivered.

In some instances, multiple product pick units may be deployed to obtaindifferent products as part of a method to protect products (e.g., one ormore fragile products may be picked by a first product pick unit, whileone or more other non-fragile products are picked by a second productpick unit). As another example, a first product pick unit may include atemperature control system and/or temperature controlled portion of thecontainment compartment. As such, in some implementations, instructionscan be wirelessly communicated to a first motorized transport anddirecting the first motorized transport unit to transport a firstproduct pick unit having a temperature control system and/or temperaturecontrolled portion of the containment compartment to one or morelocations within the shopping facility proximate to locations where oneor more products are located and have temperature thresholds orrequirements that are different than other products (e.g., must bemaintained at a temperature below 32° F.). Further instructions can becommunicated to the product pick unit directing the product pick unit toretrieve the one or more products having the temperature thresholds.Once retrieved, one or more route instructions can be wirelesslycommunicated to the motorized transport unit to transport the productpick unit and the temperature dependent products to a temperaturecontrol area of the shopping facility (e.g., a refrigerated section, afreezer section, a heated area, etc.), or otherwise taking to a workerto allow the worker to move the product to a relevant temperaturecontrolled storage location.

Upon completion of the picking and fulfillment of a product order, thecentral computer system may direct the motorized transport unit 102 toreturn a product pick unit 600 to a recharge station. Similarly, theproduct pick unit may notify the central computer of a power level, andwhen within a power threshold the central computer system may direct themotorized transport unit to take the product pick unit to a rechargestation. The recharge stations for the pick unit may be the same ordifferent than the recharge stations or docking station 122 for themotorized transport unit. In some instances, the recharge station may beconfigured to simultaneously recharge both a product pick unit and amotorized transport unit.

In some embodiments, apparatuses and methods are provided herein usefulto fulfill customer orders. In some embodiments, a system comprises: afirst self-propelled motorized transport unit configured to move throughat least a portion of a shopping facility that is configured such thatcustomers regularly enter and travel through at least a sales floorportion of the shopping facility to locate and purchase products fromthe shopping facility; a first product pick unit (PPU) configured totemporarily and removably cooperate with the motorized transport unit; awireless communication network; and a central computer system that isseparate from the motorized transport unit and the product pick unit,wherein the central computer system comprises: a transceiver; a controlcircuit coupled with the transceiver; and a memory coupled to thecontrol circuit and storing computer instructions that when executed bythe control circuit cause the control circuit to: wirelessly communicatean instruction to the first motorized transport unit and direct thefirst motorized transport unit to transport the first product pick unitto a determined first location within the shopping facility proximate towhere a first product having been ordered is located; and wirelesslycommunicate an instruction to the first product pick unit cooperatedwith the first motorized transport unit and direct the first productpick unit to retrieve the first product.

In some embodiments, a method of fulfilling a customer order comprises:by a control circuit: wirelessly communicating an instruction to a firstmotorized transport unit, which is separate from the control circuit,directing the first motorized transport unit to transport a firstproduct pick unit to a determined first location within a shoppingfacility proximate to where a first product having been ordered islocated, wherein the first product pick unit is configured totemporarily and removably cooperate with the first motorized transportunit; and wirelessly communicating an instruction to the first productpick unit cooperated with the first motorized transport unit anddirecting the first product pick unit to retrieve the first product.

In some embodiments, apparatuses and methods are provided herein usefulto fulfill customer orders. In some embodiments, an apparatus comprisesmultiple self-propelled motorized transport units configured to movethrough at least a portion of a shopping facility that is configuredsuch that customers regularly enter and travel through at least ashopping floor portion of the shopping facility to locate and purchaseproducts from the shopping facility; a plurality of product pick unitseach configured to temporarily and removably cooperate with any one ofthe multiple motorized transport units; a wireless communicationnetwork; and a central computer system that is separate and distinctfrom the multiple motorized transport units and the plurality of productpick units, wherein the central computer system is configured tocommunicate with each of the multiple motorized transport units and theplurality of product pick units via the wireless communication network,wherein the central computer system comprises: a transceiver configuredto communicate with the multiple motorized transport units and theplurality of product pick units located at the shopping facility; acontrol circuit coupled with the transceiver; and a memory coupled tothe control circuit and storing computer instructions that when executedby the control circuit cause the control circuit to: receive an orderfor a customer requesting one or more products to be acquired from theshopping facility; determine locations within the shopping facilitywhere each of the one or more products from the order is located withinthe shopping facility; wirelessly communicate an instruction to a firstmotorized transport unit and direct the first motorized transport unitto transport a first product pick unit of the plurality of product pickunits to a first location within the shopping facility proximate towhere a first product is located; and wirelessly communicate aninstruction to the first product pick unit cooperated with the firstmotorized transport unit and direct the first product pick unit toretrieve the first product.

In some embodiments, a method of fulfilling a customer order comprises:by a control circuit: receiving an order for a customer requesting oneor more products to be acquired from a shopping facility that isconfigured such that customers regularly enter and travel through atleast a shopping floor portion of the shopping facility to locate andpurchase products from the shopping facility; determining locationswithin the shopping facility where each of the one or more products fromthe order is located within the shopping facility; wirelesslycommunicating an instruction to a first motorized transport unit, ofmultiple self-propelled motorized transport units at the shoppingfacility that are separate and distinct from the control circuit,directing the first motorized transport unit to transport a firstproduct pick unit of a plurality of different product pick units to afirst location within the shopping facility proximate to where the firstproduct is located, wherein each of the plurality of product pick unitsare configured to temporarily and removably cooperate with any one ofthe multiple motorized transport units; and wirelessly communicating aninstruction to the first product pick unit cooperated with the firstmotorized transport unit and directing the first product pick unit toretrieve the first product.

The retail industry is changing. There is a desire from businessperspectives to fulfill some customer orders from existing brick andmortar shopping facilities. This may be due to a variety of reasons suchas, but not limited to, there is too much inventory in a store near theultimate destination; there may be too little inventory in one or moreexisting distribution or other fulfillment centers; perishable goods maybe involved; the cost or time to deliver from the shopping facility ispreferable, and other such reasons. Accordingly, some embodimentsutilize the central computer system controlling the product pick unitsin cooperation with the motorized transport units to automate andexpedite the assembly and fulfillment of an order from existing items.The use of the motorized transport units and the product pick unitsallows fulfillment of orders by picking the products for customer ordersfrom shopping facility shelves, bins and the like. This fulfillingprovides a great opportunity to leverage existing local facilities andquickly deliver merchandise from the shopping facility location that arenear to the customer and in potentially a more efficient manner for atleast some products. Further, the automated fulfillment may free upworkers allowing them to spend more time helping in facility customers.Further, the motorized transport units and product pick units cancontinuously work on order fulfillment during day and night.

The central computer system can evaluate and consider a variety ofattributes when determining which items are in an order, which are to bepicked, which are to be picked by which product pick unit, an order ofpicking, and the like. For example, the temperature storage thresholdsof one or more products (e.g., ambient or room temperature, chilled,frozen, heated, etc.) may be considered. Further, the central computersystem typically further considers dimensions (e.g., height, width,depth, weight) of products. In some instances, the central computersystem further considers deformability, fragility and stackability ofthe products, which may further be considered in both case andindividual quantities. As described above, the locations in which theproducts are located, including both case and individual quantities canalso be considered in determining routing and/or the picking ofproducts. Still further, some implementations consider the ways in whicha product might be identified (e.g., barcode, RFID tag, QR code, digitalwatermarking, visual inspection), in determining routing and/or whichproduct pick unit is to retrieve the product.

There are many different potential factors that are taken into accountin determining a route one or more motorized transport units are to takein transporting relevant product pick units in acquiring one or moredesired products. Typically, the central computer system considered acombination of two or more factors in determining routes of the one ormore motorized transports unit are to take in retrieving the one or morerequested products and/or whether more than one motorized transport unitis to be utilized. Some of the factors include, but are not limited to,product weights, product sizes, product dimensions, productsfrangibility, location within the shopping facility, whether the productcan be acquired from more than one location within the shopping facilityand locations from which to choose for each product (e.g., a priorityscheme may be defined, for example, first from a pick unit pick bin,second the sales floor, back room, etc., which may also be furtherdependent on number of products at a location, expiration dates, etc.),location of desired products relative to each other, customer trafficand/or congestion in areas of the shopping facility that the motorizedtransport unit and product pick unit are to travel (the congestion caninclude customer traffic, worker traffic, work being performed byworkers, other devices being used (e.g., cleaning equipment,construction equipment, etc.), and the like), current short term andlong term obstacles (e.g., obstructions (temporary or permanent) betweena motorized transport unit and potential locations of desired products),temperatures at which products should be maintained, numbers of productsto be retrieved, whether a single product pick unit can be utilized toacquire multiple products for more than one customers' orders,destination storage location for each product and/or each productstorage container (e.g., ambient, chilled, frozen and/or heated storagelocations) after product retrieval, and other such factors.

As introduced above, in some instances, the central computer system maydirect a product pick unit to pick products from multiple differentorders during a single pick process. For example, three different ordersmay have each requested a gallon of the same kind of milk. Accordingly,the central computer system may direct a product pick unit to retrievethree different gallons of the requested milk at the same time. Onceacquired, the retrieved products may be subsequently separated into thedifferent orders. The separation may be performed by a worker incompiling the relevant customer orders; a packaging system that placesproducts into one or more storage boxes, bags, bins, crates; or othersuch separation process.

In some embodiments, the central computer system may further take intoconsideration and/or determine how an order is to be delivered to acustomer. The fulfillment to a customer might be through one of manyways, such as but not limited to: pickup by the customer in the shoppingfacility or other pick-up location; shipment from the shopping facilityto a customer specified delivery location (e.g., third party carrier, orthe like); direct delivery from the store to the customer (e.g., througha shopping facility delivery service), or other such delivery methods.One or more delivery processes are typically followed depending on theintended mode of delivery. For example, when a customer is scheduled topick up the ordered one or more products at the shopping facility, atwo-step process may include: the collection or assembly of the orderinto one or more storage containers at one or more storage locations(e.g., based on temperature storage restrictions, item size, number ofitems, expected pickup date and time, etc.); and, the collection of thestorage containers and delivery to the customer pickup location once thecustomer has arrived. Some embodiments similarly utilize one or moreproduct pick units in collecting some or all of the one or more storagecontainers in gathering the customer order. Similarly, when a customeris scheduled to pick up an order at a separate location, a three-stepprocess may be utilized: the assembly of the order into one or morestorage containers into one or more storage locations (e.g., based ontemperature storage restrictions, item size, etc.); transporting ofthose storage containers to the scheduled separate pickup locationequipped with similar storage locations (which may include a multiplestep process, such as one or more steps of collecting the products of anorder and delivery to one or more transport locations at the shoppingfacility, some embodiments may package or encapsulate some temperaturedependent products (e.g., encapsulate chilled or frozen products inshipping containers with sufficient insulation, cooling and/or heatingcapability may be a consideration), labeling and/or otherwisedistinguishing products and/or storage containers for a particularcustomer order, transporting the products to the scheduled pickuplocation, and depositing the storage containers to relevant temporarystorage locations); and, the collection of the storage containers anddelivery to the customer pickup location once the customer has enteredthe separate location. When the product order is to be shipped, someembodiments implement a similar process as delivery to a separate pickuplocation. The process typically includes labeling the shippingcontainer(s) with customer delivery location information and/or customeridentifying information. Again, some implementations include packagingand/or encapsulating one or more temperature restricted products intorelevant packaging or shipping containers (e.g., chilled, frozen and/orheated items may be placed in shipping containers with sufficientinsulation, cooling and/or heating capability). When products aredelivered to a delivery site additional scheduling may be determined tomove the various storage containers to the delivery vehicle andcoordination of deliver schedules with other deliveries.

The customer orders may be received through one or more sources, such asthrough a web page providing an on-line order, through an APP on acustomer's user interface unit, through a kiosk at the shoppingfacility, or other such sources. As another example, some embodiments inpreforming the automated product order fulfillment implement one or moreof the steps of the following process. Some embodiments place the orderinto an order queue, which may be based on some priority (e.g., customermay be a preferred customer and put ahead of other customers). Further,some embodiments evaluate the order in determining one or more shoppingfacility locations from which the one or more products of the order areto be retrieved. The relevant shopping facilities are notified of theproduct order and the relevant products to be acquired. The placement inqueue and/or priority may also be provided. Upon receiving an order thecentral computer system (CCS) typically enriches the order descriptionwith relevant information, such as product location within the shoppingfacility where the product is to be picked, shelve location etc.;create, schedule and/or communicate a collection task for one or moreproduct pick units for fulfilling the online order; and the like. Thecentral computer system creates, schedule and/or communicate acooperation task and/or notification to one or more motorized transportunits to cooperate and transport relevant product pick units. Therelevant motorized transport units cooperate with relevant product pickunits, when not already cooperated. In some instances, the motorizedtransport unit transports the product pick unit to a storage containerarea (e.g., a backroom of the shopping facility to acquire one or morestorage containers, protection packaging, etc. The storage containerand/or packaging acquired may have specified dimensions (e.g., based onthe one or more products to be picked for the order) and positioned inthe containment compartment 610, the catch pouch 614, or otherwisepositioned to receive the products once picked. The placement of thestorage container and/or packaging material typically utilizes one ormore sensors, image processing, arms 602, external arms, conveyors,and/or other such mechanisms.

The motorized transport unit then transports the product pick unitfollowing a predefined path to travels to the one or more specifiedshelves and a specified location proximate to the product location wherepicking task is to be started. In some implementations, one or moresensors (e.g., image capture systems, bar code reader (e.g., which maybe cooperated with one or more of the arms 602 and/or product cupsystem), laser scanning, and the like) are activated on the product pickunit and/or motorized transport unit to allow the central computersystem to identify and/or verify the desired product and its location.The product pick unit is provided instructions and activated to pick thespecified product(s) and puts or drops the product into the catch pouchand/or containment compartment. In some implementations, the product isplaced at a specified location and/or in a specified orientation instorage container (e.g., using the arms and vacuum cup system or othersuch grasper system. The picking of a product can be repeated whenmultiple of the same products are to be retrieved as long as moreproducts are to be picked from the same shelf location for the specifiedproduct(s) and there is enough space available for the product(s) in thecontainment compartment and/or storage container. The central computersystem can route the motorized transport unit to one or more otherlocations within the shopping facility when other products are to beretrieved, and instruct the product pick unit to repeat the above stepsto retrieve the desired product(s). Once the pickup of all the productsthat the product pick unit is to pick up for the scheduled pick up taskinstance (e.g., based on no additional space available in thecontainment compartment, all products in the order have been picked,etc.) is complete, the motorized transport unit is directed to transportthe product pick unit a predefined location (e.g., order staging and/orcompilation location, refrigerated location, etc.) and the productand/or product storage container is deposited at the predefinedlocation. The product pick unit may communicate to the central computersystem that the pick task has been carried out. In some embodiments,some or all of the actions taken by the motorized transport unit,product pick unit, and/or central computer system may be recorded. Forexample, sensor information and actions performed by the motorizedtransport unit and/or product pick unit may be recorded in video formalong with a command script generated by the central computer system,motorized transport unit and/or product pick unit. In someimplementations, these actions are used by leadership for performanceevaluations and analytics.

In some embodiments, the product pick unit 600 includes one or more arms602 or other such movable structures that are configured to moverelevant grasping devices to desired locations. For example, one or morearms may be fixed on a vertical lift for up and down motions, pivotjoints may allow one or more sections of an arm to move the graspingdevice vertical, or other such mechanisms or combinations of suchmechanism. Further, the arms typically also telescope, hinge on one ormore axis points (e.g., a 360 degree, 180 degree, 90 degree or othersuch range), or other such movement mechanisms to move horizontallyinward and outward. In some instances, one or more arms include a vacuumcup with vacuuming capabilities or other such grasping system forgrasping products. One or more other arms may have a different graspingmechanism (e.g., hook, latch, etc.). Different shaped cups may be placedon different arms, a single arm may have multiple cups (e.g.,rotationally position a desired one of the cups), and/or the graspingmechanism may be detachable with multiple grasping mechanisms availableto a single pick unit. Often, more than one arm are operated together tograb a product, such as products that are multi-shaped. In someembodiments, the product pick unit may include an additional scoop thatcan be extend and retracted under the vacuum cup to provide stability ofthe grab. The retrieved product may be placed in the catch pouch,containment compartment, storage container or the like. In otherinstances, the product may be dropped and/or dragged off a shelf andallowed to drop into the catch pouch. The catch pouch may include apadded and/or safety bumper. When a product is fragile, the product pickunit may position and/or include protection packaging (e.g., a bubblewrap bag may be opened (e.g., through air, an arm 602, etc.) to productand/or surround the product. In some instances, the protection packagingis positioned to allow the product to drop into it and on down into thecatch pouch. Once the safety bumper is bumped, the bumper may drop downand allow the product to drop, roll or otherwise be moved into thecontainment compartment, and typically into a storage container withinthe containment compartment.

Those skilled in the art will recognize that a wide variety ofmodifications, alterations, and combinations can be made with respect tothe above described embodiments without departing from the scope of theinvention, and that such modifications, alterations, and combinationsare to be viewed as being within the ambit of the inventive concept.

What is claimed is:
 1. A system to fulfill a customer order, comprising:a plurality of self-propelled motorized transport units (MTU) eachconfigured to move through at least a portion of a retail shoppingfacility that is configured such that customers regularly enter andtravel through at least a sales floor portion of the retail shoppingfacility to locate and purchase products from the retail shoppingfacility, wherein each of the motorized transport units comprises: anitem container configured to receive products placed into the itemcontainer by a customer and retain the products intended to bepurchased; an MTU control circuit; a product scanner communicativelycoupled with the MTU control circuit and configured scan and obtainproduct identifying information for products placed into the itemcontainer and communicate the product identifying information to the MTUcontrol circuit; a user interface communicatively coupled with the MTUcontrol circuit wherein the MTU control circuit is configured to presentinformation to the customer, including an identifier of the productsplaced into the item container, and receive input from the customer; awireless transceiver communicatively coupled with the MTU controlcircuit, wherein the MTU control circuit is configured to wirelesslycommunicate and wirelessly receive at least instructions from a separateand remote central computer system through the wireless transceiver; amotorized locomotion system communicatively coupled with the MTU controlcircuit and controlled by the MTU control circuit, wherein the MTUcontrol circuit is configured to control the locomotion system totransport the MTU and item container through at least the portion of theretail shopping facility enabling the customer to acquire desiredproducts; and a plurality of location sensors detecting sensor datautilized to determine a location within the retail shopping facility inaccordance with at least a two-dimensional map of the retail shoppingfacility; and the central computer system comprising a central controlcircuit communicatively coupled with a wireless central controltransceiver and configured to wirelessly communicate with each of theplurality of MTUs, determine locations of each of the MTUs within theretail shopping facility, and communicate the instructions to the MTUswherein the instructions in part are utilized by the respective MTUcontrol circuits to control the movements of the MTUs within the retailshopping facility.
 2. The system of claim 1, wherein the centralcomputer system is further configured to: wirelessly communicate throughthe central control transceiver with the plurality of MTUs and with aplurality of user interface units each exclusively associated with aparticular customer of a plurality of customers; temporarily associateeach of the plurality of user interface units with a respective one ofthe plurality of MTUs while the respective MTU is to be used to supportthe respective customer associated with the respective user interfaceunit; and communicate the instructions used by the respective MTUcontrol circuits to control movement of a respective one of theplurality of MTUs through the retail shopping facility based at least oninputs from the respective user interface unit that is temporarilyassociated with the respective MTU.
 3. The system of claim 2, whereinthe central computer system is further configured to: receive a voiceinput comprising an MTU command from the customer via a particular oneof the user interface units that is associated with a particular one ofthe MTUs; transmit to the particular one of the user interface units anMTU instruction that corresponds to the MTU command, such that theparticular one of the user interface units can then provide that MTUinstruction to the particular one of the MTUs for execution by theparticular one of the MTUs.
 4. The system of claim 2, wherein thecentral computer system is further configured to: wherein the MTUcontrol circuit is configured to display through the user interfaceproduct information regarding products identified in a listing providedthrough an application operated on a user interface unit operated by thecustomer; and
 5. The system of claim 1, wherein the system furthercomprises: wherein each of the plurality of motorized transport unitscomprises at least one light receiver configured to receive lightemitted one or more light sources of multiple different lights sourcesdistributed throughout the retail shopping facility and configured toemit light encoding a light source identifier, and extract from thereceived light a light identifier encoded in the light from the one ormore light sources; and a location control unit configured to receivethe light source identifier of each of the one or more light sources anddetermine a location of at least one of the plurality of MTUs in theretail shopping facility based at least on the light source identifiersfrom the at least one light receiver of the at least one of theplurality of MTUs.
 6. The system of claim 5, wherein each of theplurality of MTUs comprises at least one additional sensor configured todetect objects within an intended path of movement of the respective MTUthrough the retail shopping facility.
 7. The system of claim 1, whereinthe central computer system outputs signals to control movement of theplurality of MTUs, the signals generated based on one or more of:movement instructions determined by the central computer system;commands received at a user interface unit from a customer; and commandsreceived at the central computer system from a remote user not locatedat the retail shopping facility.
 8. The system of claim 7, wherein thecentral computer system is configured to automatically generate a travelroute of at least one of the plurality of MTUs through the retailshopping facility based on one or more of: a user provided list of itemsentered by the user via a user interface unit; user selected routepreferences entered by the user via the user interface unit; userprofile data received from a user information database; and productavailability information from a retail inventory database.
 9. The systemof claim 1, wherein at least a first MTU of the plurality of MTUscomprises: a first product pick unit (PPU) comprising the item containerand configured to autonomously retrieve multiple products and depositeach of the multiple products into the item container.
 10. The system ofclaim 9, wherein the central computer system is further configured toidentify two or more products of the multiple products specified in acustomer's order, and determine routing through the shopping facilityalong which the first MTU is to transport the first PPU to acquire thetwo or more products such that damage to a first product of the two ormore products does not occur from a retrieval of a second product of thetwo or more products, wherein the instruction communicated by thecentral computer system to the first MTU comprises route information inaccordance with the determined routing that is to be implemented by thefirst MTU to transport the first PPU and autonomously acquire the firstproduct and the second product while avoiding damage to the firstproduct and the second product.
 11. A method of controlling movement ofa motorized transport unit through a retail shopping facility,comprising: by a central control circuit: determining locations withinthe shopping facility of each of a plurality of motorized transportunits (MTU) within the retail shopping facility, wherein each of theMTUs is separate from the control circuit and each of the MTUs comprisesan item container integral with the respective MTU, wherein the shoppingfacility is configured such that customers regularly enter and travelthrough at least a sales floor portion of the retail shopping facilityto locate and purchase products from the retail shopping facility,including determining a location of a first motorized transport unit(MTU), of a plurality of self-propelled motorized transport units (MTU),and wherein the item container is configured to receive products placedinto the item container by the customer and retain the products intendedto be purchased; receiving a communication from a portable userinterface unit exclusively associated with a customer; determining arouting of the first MTU through the shopping facility based on thecommunication from the portable user interface unit; wirelesslycommunicating instructions to each of the plurality of MTUs directingthe MTUs to transport the corresponding item container integral with theMTU through the retail shopping facility to support the customertemporarily associated with the first MTU as the customer travelsthrough and shops for one or more products available for purchase fromthe shopping facility and causing a MTU control circuit of each of theplurality of MTUs to control a motorized locomotion system of the MTUthat is communicatively coupled with the MTU control circuit andcontrolled by the MTU control circuit in implementing the instructions,to transport the MTU and item container through at least the portion ofthe shopping facility enabling the customer to acquire desired products;and wirelessly receiving product identifying information from each ofthe plurality of the MTUs captures by a product scanner communicativelycoupled with the MTU control circuit and configured scan and obtain theproduct identifying information for products placed into the itemcontainer.
 12. The method of claim 11, further comprising: temporarilyassociating each of a plurality of user interface units with arespective one of the plurality of MTUs while the respective MTU is tobe used to support the respective customer associated with therespective user interface unit; and communicating the instructions usedby the respective MTU control circuits to control movement of arespective one of the plurality of MTUs through the retail shoppingfacility based at least on inputs from the respective user interfaceunit that is temporarily associated with the respective MTU.
 13. Themethod of claim 12, receiving a voice input comprising an MTU commandfrom the customer via a particular one of the user interface units thatis associated with a particular one of the MTUs; transmitting to theparticular one of the user interface units an additional MTU instructionthat corresponds to the MTU command; and causing the particular one ofthe user interface units to wirelessly communicate the additional MTUinstruction to the particular one of the MTUs for execution by theparticular one of the MTUs.
 14. The method of claim 12, furthercomprising: causing the MTU control circuit of the particular MTU todisplay, through a user interface cooperated with the particular MTU,product information regarding products identified in a listing providedthrough an application operated on the particular user interface unitoperated by the customer.
 15. The method of claim 11, furthercomprising: wirelessly receiving, from the particular MTU, a lightidentifier obtained by at least one light receiver, of the particularMTU, configured to receive light emitted one or more light sources ofmultiple different lights sources distributed throughout the shoppingfacility and configured to emit light encoding the light identifier, andwherein the light receiver is configured to extract from the receivedlight the light identifier that is encoded in the light from the one ormore light sources; and wherein the determining the location within theshopping facility of each of a plurality of MTUs comprises determining alocation of at the particular MTU of the plurality of MTUs in theshopping facility based at least on the light identifier from the atleast one light receiver of the particular MTU.
 16. The method of claim15, further comprising: receiving additional sensor data from theparticular MTU that comprises at least one additional sensor configuredto detect objects within an intended path of movement of the respectiveMTU through the retail shopping facility; and wherein the communicatingthe instructions comprises communicating the instructions based on theadditional sensor data.
 17. The method of claim 11, wherein thecommunication the instructions comprises generating the instructionsbased on one or more of: movement instructions determined by the centralcomputer system; commands received at a user interface unit from acustomer; and commands received at the central computer system from aremote user not located at the retail shopping facility.
 18. The methodof claim 17, wherein the generating the instructions comprisesautomatically generating a travel route each of the plurality of MTUsthrough the shopping facility based on one or more of: a customerprovided list of items entered by the customer via the user interfaceunit; customer selected route preferences entered by the customer viathe user interface unit; user profile data received from a userinformation database; and product availability information from a retailinventory database.